real01b-routing-d1-r6-ours-freecf-c100000-dp-heval-s2026071206-policy-rollouts
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学领域，包含Franka机器人的交互数据。数据集提供了丰富的机器人状态观测信息，包括关节位置、关节速度、笛卡尔坐标位置与速度、夹爪位置；动作数据涵盖笛卡尔速度、笛卡尔位置、关节速度、关节位置以及夹爪动作；多视角视觉数据来自手腕左侧、手腕右侧和两个侧面摄像头，视频分辨率为480x640，帧率为15fps；遥测数据包括外部电机扭矩、测量电机扭矩、计算关节扭矩以及末端执行器力/力矩。此外，数据集还包含任务相关变量，如成功标志、干预标志、剩余步数、奖励、完成标志，以及元数据如策略ID、回合ID、时间戳、帧索引、回合索引。数据以parquet格式存储，总共有50个回合、30145帧，用于训练和评估机器人策略。
This dataset is created by LeRobot and focuses on the field of robotics, containing interaction data from Franka robots. It provides rich robot state observation information, including joint positions, joint velocities, Cartesian positions and velocities, and gripper positions; action data covers Cartesian velocities, Cartesian positions, joint velocities, joint positions, and gripper actions; multi-view visual data comes from left wrist, right wrist, and two side cameras, with video resolution of 480x640 and frame rate of 15fps; telemetry data includes external motor torques, measured motor torques, computed joint torques, and end-effector forces/torques. Additionally, the dataset contains task-related variables such as success flags, intervention flags, remaining steps, rewards, completion flags, and metadata like policy ID, episode ID, timestamp, frame index, and episode index. The data is stored in parquet format, with a total of 50 episodes and 30,145 frames, used for training and evaluating robot policies.
数据集概述
- 数据集名称:
real01b-routing-d1-r6-ours-freecf-c100000-dp-heval-s2026071206-policy-rollouts - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: LeRobot
数据集规模
| 指标 | 数值 |
|---|---|
| 总片段数 (Total Episodes) | 50 |
| 总帧数 (Total Frames) | 30145 |
| 总任务数 (Total Tasks) | 1 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
- 帧率 (FPS): 15
- 机器人类型: Franka
数据划分
- 训练集: 片段 0 至 49（共50个片段，即全部数据用于训练）
数据结构
该数据集包含以下特征组，每个特征包含数据类型、形状及字段名称：
| 特征名 | 数据类型 | 形状 | 字段说明 |
|---|---|---|---|
observation.state |
float32 | (7,) | 机器人状态：cart_pos_x, cart_pos_y, cart_pos_z, cart_rot_x, cart_rot_y, cart_rot_z, gripper_position |
action |
float32 | (7,) | 动作指令：vel_x, vel_y, vel_z, vel_roll, vel_pitch, vel_yaw, gripper_action |
steps_to_go |
int64 | (1,) | 剩余步数 (steps_to_go) |
source |
int64 | (1,) | 来源ID (source_id) |
intervention |
int64 | (1,) | 干预标志 (intervention_flag) |
success |
int64 | (1,) | 成功标志 (success_flag) |
is_valid |
int64 | (1,) | 有效标志 (is_valid_flag) |
reward |
float32 | (1,) | 奖励值 (reward) |
done |
int64 | (1,) | 结束标志 (done_flag) |
policy_id |
int64 | (1,) | 策略ID (policy_id) |
round_id |
int64 | (1,) | 轮次ID (round_id) |
action.cartesian_velocity |
float32 | (6,) | 笛卡尔速度动作：x, y, z, roll, pitch, yaw |
action.cartesian_position |
float32 | (6,) | 笛卡尔位置动作：x, y, z, roll, pitch, yaw |
action.joint_velocity |
float32 | (7,) | 关节速度动作：joint_0 至 joint_6 |
action.joint_position |
float32 | (7,) | 关节位置动作：joint_0 至 joint_6 |
action.gripper_position |
float32 | (1,) | 夹爪位置动作 (gripper) |
action.gripper_velocity |
float32 | (1,) | 夹爪速度动作 (gripper) |
observation.state.cartesian_position |
float32 | (6,) | 状态中的笛卡尔位置：x, y, z, roll, pitch, yaw |
observation.state.joint_position |
float32 | (7,) | 状态中的关节位置：joint_0 至 joint_6 |
observation.state.joint_velocity |
float32 | (7,) | 状态中的关节速度：joint_0 至 joint_6 |
observation.state.cartesian_velocity |
float32 | (6,) | 状态中的笛卡尔速度：x, y, z, roll, pitch, yaw |
observation.state.gripper_position |
float32 | (1,) | 状态中的夹爪位置 (gripper) |
telemetry.franka.motor_torques_external |
float32 | (7,) | 外部电机扭矩：joint_0 至 joint_6 |
telemetry.franka.ee_wrench |
float32 | (6,) | 末端力/力矩：fx, fy, fz, mx, my, mz |
telemetry.franka.motor_torques_measured |
float32 | (7,) | 实测电机扭矩：joint_0 至 joint_6 |
telemetry.franka.joint_torques_computed |
float32 | (7,) | 计算关节扭矩：joint_0 至 joint_6 |
observation.images.wrist_left |
video | (480, 640, 3) | 左侧腕部相机图像（AV1编码，15fps，RGB） |
observation.images.wrist_right |
video | (480, 640, 3) | 右侧腕部相机图像（AV1编码，15fps，RGB） |
observation.images.side_1 |
video | (480, 640, 3) | 侧面视角1图像（AV1编码，15fps，RGB） |
observation.images.side_2 |
video | (480, 640, 3) | 侧面视角2图像（AV1编码，15fps，RGB） |
manifest_idx |
int64 | (1,) | 清单索引 (manifest_idx) |
rope_x |
float32 | (1,) | 绳索X坐标 (rope_x) |
clip_left_x |
float32 | (1,) | 左侧夹子X坐标 (clip_left_x) |
clip_left_y |
float32 | (1,) | 左侧夹子Y坐标 (clip_left_y) |
clip_left_yaw |
float32 | (1,) | 左侧夹子偏航角 (clip_left_yaw) |
clip_left_oidx |
float32 | (1,) | 左侧夹子对象索引 (clip_left_oidx) |
clip_right_x |
float32 | (1,) | 右侧夹子X坐标 (clip_right_x) |
clip_right_y |
float32 | (1,) | 右侧夹子Y坐标 (clip_right_y) |
clip_right_yaw |
float32 | (1,) | 右侧夹子偏航角 (clip_right_yaw) |
clip_right_oidx |
float32 | (1,) | 右侧夹子对象索引 (clip_right_oidx) |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 片段索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据文件存储
- 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 - 数据块大小 (chunks_size): 1000
可视化
此数据集可通过 Hugging Face 的 LeRobot 可视化工具在线浏览，链接为：Visualize Dataset
