rinonpole_20260710_135554
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot创建，专注于双机器人手臂（bi_dk1_follower类型）的遥操作任务。数据集包含65个episodes，总计50331帧，帧率为30fps。数据特征包括：动作（action）和观察状态（observation.state），均为14维浮点数组，表示左右机器人手臂的6个关节位置和夹爪位置；观察图像（observation.images）来自三个摄像头视角（右腕、左腕和基座），视频分辨率为480x640或360x640，编码为av1格式；以及时间戳、帧索引、episode索引、任务索引等元数据。数据集以Parquet文件格式存储，总数据大小为100MB，视频文件大小为50MB，适用于机器人控制、模仿学习等研究。
This is a robotics dataset developed using LeRobot, focusing on teleoperation tasks for dual robotic arms of the bi_dk1_follower type. The dataset contains 65 episodes, totaling 50331 frames with a frame rate of 30 fps. The dataset features are as follows: actions and observation.state, both 14-dimensional floating-point arrays that represent the 6 joint positions and gripper positions of the left and right robotic arms; observation.images captured from three camera perspectives (right wrist, left wrist, and robot base), with video resolutions of 480x640 or 360x640 and encoded in AV1 format; plus metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is stored in Parquet file format, with a total data size of 100 MB and a separate video file size of 50 MB, and is suitable for research in areas such as robotic control and imitation learning.
数据集概述
- 名称: rinonpole_20260710_135554
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, qualia-teleop, LeLab
数据集结构
- 总帧数: 50,331
- 总集数 (Episodes): 65
- 总任务数 (Tasks): 2
- 帧率 (FPS): 30
- 机器人类型: bi_dk1_follower
- 数据文件格式: Parquet 和 MP4 视频
- 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 - 数据大小: 数据文件约 100 MB，视频文件约 50 MB
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [14] | 包含左右各6个关节位置和1个夹爪位置的控制动作 |
| observation.state | float32 | [14] | 包含左右各6个关节位置和1个夹爪位置的机器人状态 |
| observation.images.right_wrist | video | [480, 640, 3] | 右腕摄像头视频，分辨率 480x640，编码 AV1，帧率 30 |
| observation.images.left_wrist | video | [480, 640, 3] | 左腕摄像头视频，分辨率 480x640，编码 AV1，帧率 30 |
| observation.images.base | video | [360, 640, 3] | 基座摄像头视频，分辨率 360x640，编码 AV1，帧率 30 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集数索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据集划分
- 训练集 (train): 包含 0 到 64 集 (共 65 集)
