openarm_bimanual_shirt_folding_high_quality_recomputed_stats

该数据集是一个用于双机械臂衬衫折叠任务的机器人学数据集，通过LeRobot平台生成。它包含动作数据（如16维关节和夹爪位置）、观测数据（包括状态观测和来自三个摄像头的视频观测：左腕摄像头（720x1280分辨率）、右腕摄像头（720x1280分辨率）和基座摄像头（480x640分辨率）），以及元数据（如时间戳、帧索引、episode索引）。数据集总共有100个episodes，146472帧，帧率为30fps，机器人类型为bi_openarm_follower，适用于机器人控制、模仿学习或强化学习等研究场景。数据以Parquet文件格式存储，视频以MP4格式存储，使用Apache 2.0许可证。This dataset is a robotics dataset for dual-arm shirt folding tasks, generated via the LeRobot platform. It contains action data (e.g., 16-dimensional joint and gripper positions), observation data including state observations and video observations from three cameras: left wrist camera (720×1280 resolution), right wrist camera (720×1280 resolution), and base camera (480×640 resolution), as well as metadata such as timestamps, frame indices and episode indices. The dataset has a total of 100 episodes and 146,472 frames, with a frame rate of 30 fps. The robot type is bi_openarm_follower, and it is applicable to research scenarios including robot control, imitation learning and reinforcement learning. The data is stored in Parquet file format, while the videos are stored in MP4 format, and it is released under the Apache 2.0 license.

原始信息汇总

数据集概述

• 数据集名称: openarm_bimanual_shirt_folding_high_quality_recomputed_stats
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot

数据集结构

数据集采用 LeRobot 格式（代码库版本 v3.0），包含以下关键组成部分：

数据统计

• 总 Episode 数: 100
• 总帧数: 146,472
• 总任务数: 1
• 帧率 (FPS): 30

数据文件

• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据存储路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频存储路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据分块大小: 1,000 帧/块

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[16]	16维动作向量，包含左右各7个关节位置和1个夹爪位置
observation.state	float32	[16]	16维状态观测，结构与 action 相同
observation.images.left_wrist	video	[720, 1280, 3]	左腕摄像头视频，720p，AV1编码，30fps
observation.images.right_wrist	video	[720, 1280, 3]	右腕摄像头视频，720p，AV1编码，30fps
observation.images.base	video	[480, 640, 3]	基座摄像头视频，480p，AV1编码，30fps
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	Episode 索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

机器人信息

• 机器人类型: bi_openarm_follower（双臂OpenArm跟随机器人）

数据划分

• 训练集: 索引 0 到 99（全部100个Episode用于训练）