cell1_20260523_mohammed_groceries_packing_20260523_221418

该数据集是一个机器人操作数据集，使用LeRobot工具创建，专注于starpilot_yam_gripper机器人类型。数据集包含5个episodes，总计3533帧，涉及1个任务（推测为杂货打包任务，基于数据集名称cell1_20260523_mohammed_groceries_packing_20260523_221418）。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，帧率为30fps。特征包括：动作数据（14维浮点数组，表示两个机械臂的位置、旋转和夹爪宽度）、观测状态数据（32维浮点数组，包括编码器角度、IMU加速度和角速度、位姿坐标和四元数、夹爪状态）、多个摄像头图像（RGB和深度，来自左腕、右腕和基座摄像头，分辨率分别为480x640和768x1024），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人学习任务，如强化学习或模仿学习。

This is a robotic manipulation dataset created using the LeRobot tool, focusing on the starpilot_yam_gripper robot platform. It contains 5 episodes, totaling 3533 frames, and covers 1 task (inferred as a grocery packing task based on the dataset name cell1_20260523_mohammed_groceries_packing_20260523_221418). The data is stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB, with a frame rate of 30 fps. The dataset includes the following features: action data (a 14-dimensional floating-point array representing the position, rotation, and gripper width of the two robotic arms); observation state data (a 32-dimensional floating-point array including encoder angles, IMU acceleration and angular velocity, pose coordinates and quaternions, and gripper status); multiple camera images (RGB and depth, captured from left wrist, right wrist, and base cameras, with resolutions of 480x640 and 768x1024 respectively); as well as metadata such as timestamps, frame indices, and episode indices. This dataset is applicable to robotic learning tasks such as reinforcement learning or imitation learning.

原始信息汇总

数据集概述

• 数据集名称: cell1_20260523_mohammed_groceries_packing_20260523_221418
• 许可协议: Apache-2.0
• 任务类型: 机器人学 (Robotics)
• 标签: LeRobot

数据集规模

• 总集数 (episodes): 5
• 总帧数 (frames): 3533
• 总任务数: 1
• 帧率 (fps): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 划分: 训练集 (train) 包含全部5集 (索引0至4)

数据集结构

• 机器人类型: starpilot_yam_gripper (双机械臂夹爪)
• 数据格式: Parquet (数据)、MP4 (视频)
• 存储路径:
  • 数据: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
  • 视频: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征字段

特征名称	数据类型	维度	描述
action	float32	[14]	双机械臂动作指令 (位置、旋转、夹爪宽度)
observation.state	float32	[32]	双机械臂观测状态 (编码器角度、IMU、位姿、夹爪状态)
observation.images.*	视频	详见说明	多视角摄像头RGB图像 (H.264编码, 30fps)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

摄像头视图

摄像头名称	分辨率 (高×宽)	通道数
left_wrist_0_camera_rgb_image	480×640	3
left_wrist_0_camera_rgb_image_depth	480×640	3
right_wrist_0_camera_rgb_image	480×640	3
right_wrist_0_camera_rgb_image_depth	480×640	3
base_0_camera_rgb_image	480×640	3
base_1_camera_rgb_image	768×1024	3

生成工具

该数据集使用 LeRobot 创建。