industrial_cabinet_workspace_ep0004
收藏资源简介：
该数据集是一个机器人控制数据集，使用LeRobot工具创建，针对Unitree_G1_Brainco_Sim机器人。数据集包含1个任务、1个完整轨迹和1918帧数据，帧率为30fps。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为500MB。特征包括：观测状态（26维浮点数组，表示机器人左右肩、肘、腕和手指关节的角度）、动作（26维浮点数组，对应关节控制命令）、三个摄像头图像（高位摄像头、左腕摄像头和右腕摄像头，均为480x640分辨率、3通道的AV1编码视频），以及时间戳、帧索引、任务索引等元数据。数据集适用于机器人学习任务，如模仿学习或强化学习。
This dataset is a robotics control dataset developed using the LeRobot toolkit, targeting the Unitree_G1_Brainco_Sim robot. It encompasses 1 task, 1 complete trajectory, and 1918 frames of data at a frame rate of 30 fps. The data is stored in Parquet format, with an overall data file size of 100 MB and a separate video file size of 500 MB. The dataset features include: observation states (26-dimensional floating-point arrays representing the joint angles of the robot's left and right shoulders, elbows, wrists, and fingers), actions (26-dimensional floating-point arrays corresponding to joint control commands), three sets of camera images (high-mounted camera, left wrist camera and right wrist camera, all with 480x640 resolution, 3-channel AV1-encoded videos), as well as metadata such as timestamps, frame indices, task indices and other associated metadata. This dataset is suitable for robotics learning tasks such as imitation learning or reinforcement learning.
数据集概述：industrial_cabinet_workspace_ep0004
- 许可证: Apache-2.0
- 任务类别: 机器人技术 (robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集结构
- 代码版本: v3.0
- 机器人类型: Unitree_G1_Brainco_Sim
- 总片段数 (episodes): 1
- 总帧数 (frames): 1918
- 总任务数 (tasks): 1
- 数据块大小 (chunks_size): 1000
- 数据文件总大小: 100 MB
- 视频文件总大小: 500 MB
- 帧率 (fps): 30
数据划分
- 训练集: 片段索引 0 到 1 (即全部数据)
数据路径
- 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
特征列表
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
observation.state |
float32 | (26,) | 包含26个机器人关节状态（如肩部、肘部、手腕、手指等） |
action |
float32 | (26,) | 与 observation.state 对应的26维动作指令 |
observation.images.cam_high |
视频 | (480, 640, 3) | 高空摄像头画面，AV1编码，30fps |
observation.images.cam_left_wrist |
视频 | (480, 640, 3) | 左手腕摄像头画面，AV1编码，30fps |
observation.images.cam_right_wrist |
视频 | (480, 640, 3) | 右手腕摄像头画面，AV1编码，30fps |
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 |
状态/动作空间命名
- 左臂: kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kLeftElbow, kLeftWristRoll, kLeftWristPitch, kLeftWristYaw
- 右臂: kRightShoulderPitch, kRightShoulderRoll, kRightShoulderYaw, kRightElbow, kRightWristRoll, kRightWristPitch, kRightWristYaw
- 左手: kLeftHandThumb, kLeftHandThumbAux, kLeftHandIndex, kLeftHandMiddle, kLeftHandRing, kLeftHandPinky
- 右手: kRightHandThumb, kRightHandThumbAux, kRightHandIndex, kRightHandMiddle, kRightHandRing, kRightHandPinky
引用信息
引用信息暂缺。
