openarm_mini_dual_camera_blue_sponge_0529

该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于双开放臂跟随机器人（bi_openarm_follower）的数据收集。它包含机器人动作、状态观测、图像观测（包括来自顶部摄像头和右腕摄像头的视频数据）、时间戳、帧索引、回合索引和任务索引等特征。动作和状态观测各由16个浮点数组成，分别对应左右机械臂的7个关节位置和夹爪位置。图像观测的分辨率为480x640，3通道。数据以parquet格式存储，视频以mp4格式存储，帧率为30fps。数据集结构包括数据块大小和文件大小等信息，但具体数据量（如总回合数、总帧数、总任务数）在元数据中显示为0，可能表示未指定或待填充。

This robotics dataset was developed using the LeRobot tool, focusing on data collection for the dual open-arm follower robot (bi_openarm_follower). It encompasses various features including robot actions, state observations, image observations (comprising video data from the top-mounted camera and right-wrist camera), timestamps, frame indices, episode indices, and task indices. Both robot actions and state observations are composed of 16 floating-point numbers, which respectively correspond to the 7 joint positions and gripper position of the left and right robotic arms. The image observations have a resolution of 480×640 with 3 color channels. Structured data is stored in Parquet format, while video data is stored in MP4 format at a frame rate of 30 fps. The dataset structure includes information such as data block size and file size. Nevertheless, the specific data metrics including the total number of episodes, total number of frames, and total number of tasks are indicated as 0 in the metadata, which may imply that these values are unspecified or pending completion.

原始信息汇总

数据集概述

• 数据集名称: openarm_mini_dual_camera_blue_sponge_0529
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: LeRobot
• 可视化链接: 可视化此数据集

数据集结构

• 代码库版本: v3.0
• 机器人类型: bi_openarm_follower (双臂OpenArm跟随机器人)
• 总片段数: 0
• 总帧数: 0
• 总任务数: 0
• 块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 30 fps
• 分割: 无

数据文件路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征

特征名称	数据类型	形状	说明
action	float32	(16,)	16维动作指令，包括右臂7个关节位置、右夹爪位置、左臂7个关节位置、左夹爪位置
observation.state	float32	(16,)	16维观测状态，与动作结构相同
observation.images.top	video	(480, 640, 3)	俯视摄像头图像，分辨率480x640，RGB三通道
observation.images.right_wrist	video	(480, 640, 3)	右腕摄像头图像，分辨率480x640，RGB三通道
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