wipe_table_20
收藏资源简介：
该数据集是一个机器人任务数据集，专门用于擦桌子任务（从路径wipe_table_20推断）。数据集包含20个完整任务片段（episodes），总计9007帧数据，以30帧每秒（fps）录制。数据存储为parquet格式，视频存储为mp4格式。数据集特征包括：机器人的动作数据（如肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置，共6个浮点值）、观测状态数据（与动作相同的关节位置）、图像观测数据（来自侧视摄像头和腕部摄像头的视频，分辨率均为480x640，3通道彩色，使用h264编码，无音频），以及时间戳、帧索引、片段索引、任务索引等元数据。该数据集适用于机器人学习任务，如模仿学习或强化学习，用于训练和评估机器人执行桌面清洁任务。数据集使用Apache 2.0许可证发布，并通过LeRobot工具创建。
This dataset is a robotic task dataset specifically designed for table wiping tasks (inferred from the path wipe_table_20). It contains 20 complete task episodes, totaling 9007 frames of data recorded at 30 frames per second (fps). The data is stored in Parquet format, while the videos are stored in MP4 format. The dataset includes the following features: robotic motion data, which consists of 6 floating-point values including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position; observation state data, which uses the same joint positions as the motion data; image observation data, which comprises videos captured by a side-view camera and a wrist camera, both with a resolution of 480×640, 3-channel color, encoded with H.264 and without audio; as well as metadata such as timestamps, frame indices, episode indices, and task indices. This dataset is suitable for robotic learning tasks such as imitation learning or reinforcement learning, and is used for training and evaluating robots to perform tabletop cleaning tasks. It is released under the Apache 2.0 License and was created using the LeRobot toolkit.
数据集详情：wipe_table_20
基本信息
数据集结构
- 代码库版本：v3.0
- 机器人类型：so_follower
- 总片段数：20
- 总帧数：9007
- 总任务数：1
- 数据块大小：1000
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 帧率：30 fps
- 数据集划分：训练集（train）包含全部20个片段（索引 0:20）
- 数据路径格式：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径格式：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征字段
| 字段 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 6维动作：肩关节俯仰位置、肩关节升降位置、肘关节弯曲位置、腕关节弯曲位置、腕关节旋转位置、夹爪位置 |
observation.state |
float32 | [6] | 6维观察状态，名称与action一致 |
observation.images.side |
视频 | [480, 640, 3] | 侧方摄像头，分辨率480x640，3通道，H.264编码，30 fps |
observation.images.wrist |
视频 | [480, 640, 3] | 腕部摄像头，分辨率480x640，3通道，H.264编码，30 fps |
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 |
