cell1_20260519_mohammed_loge-color-sorting_20260519_180829
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot平台创建，专为机器人学习任务设计。数据集包含6个完整的情节（episodes），总计2681帧数据，涉及单一任务。机器人类型为starpilot_yam_gripper，数据以30帧每秒的速率采集。数据集包括动作数据（14维浮点向量，控制两个机械臂的x、y、z位置、rx、ry、rz旋转和抓取宽度）、观测状态数据（32维浮点向量，包括机械臂的编码器角度、IMU加速度和角速度、姿态四元数以及抓取器状态）和多视角视觉数据（来自左腕、右腕和基座的RGB和深度摄像头图像，其中左腕和右腕摄像头分辨率为480x640，基座摄像头分辨率为768x1024）。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人控制、模仿学习或强化学习研究。
This is a robotic manipulation dataset developed using the LeRobot platform, which is specifically designed for robotic learning tasks. The dataset contains 6 full episodes, with a total of 2681 frames of data, focusing on a single task. The robotic platform used is the starpilot_yam_gripper, and the data was collected at a rate of 30 frames per second (FPS). The dataset includes three categories of data: action data, which is a 14-dimensional floating-point vector that controls the x, y, z positions, rx, ry, rz rotations and gripper width of the two robotic arms; observation state data, which is a 32-dimensional floating-point vector including the encoder angles of the robotic arms, IMU acceleration and angular velocity, attitude quaternions and gripper status; and multi-view visual data, which consists of RGB and depth camera images from the left wrist, right wrist and base mount, where the left and right wrist cameras have a resolution of 480x640, and the base camera has a resolution of 768x1024. The data is stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB, and is suitable for research in robotic control, imitation learning or reinforcement learning.
数据集概述
- 数据集名称:
cell1_20260519_mohammed_loge-color-sorting_20260519_180829 - 许可证: Apache-2.0
- 任务类别: 机器人 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集规模
| 指标 | 数值 |
|---|---|
| 总片段数 | 6 |
| 总帧数 | 2681 |
| 总任务数 | 1 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
| 帧率 (FPS) | 30 |
| 训练集划分 | 0:6（所有6个片段均为训练集） |
机器人类型
- 机器人型号:
starpilot_yam_gripper
数据集结构
数据存储
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据分块大小: 1000 帧/块
特征说明
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (14,) | 包含两条机械臂的末端位置 (x, y, z, rx, ry, rz) 及夹爪宽度，共14维 |
observation.state |
float32 | (32,) | 包含两条机械臂的编码器角度、IMU数据、位姿、夹爪状态等状态信息，共32维 |
observation.images.left_wrist_0_camera_rgb_image |
video | (480, 640, 3) | 左腕部相机RGB图像，H.264编码，30fps |
observation.images.left_wrist_0_camera_rgb_image_depth |
video | (480, 640, 3) | 左腕部相机深度图（实际为RGB编码），H.264编码，30fps |
observation.images.right_wrist_0_camera_rgb_image |
video | (480, 640, 3) | 右腕部相机RGB图像，H.264编码，30fps |
observation.images.right_wrist_0_camera_rgb_image_depth |
video | (480, 640, 3) | 右腕部相机深度图（实际为RGB编码），H.264编码，30fps |
observation.images.base_0_camera_rgb_image |
video | (480, 640, 3) | 底座0号相机RGB图像，H.264编码，30fps |
observation.images.base_1_camera_rgb_image |
video | (768, 1024, 3) | 底座1号相机RGB图像，分辨率更高，H.264编码，30fps |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧序号 |
episode_index |
int64 | (1,) | 片段序号 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务序号 |
