cell1_20260518_mohamehossam_sorting20260518_184458

该数据集是一个用于机器人任务的数据集，使用LeRobot工具创建。数据集包含6个总集数，3265个总帧数，涉及一个任务。机器人类型为starpilot_yam_gripper，数据以parquet格式存储，视频以mp4格式存储，帧率为30fps。特征包括动作（如机械臂位置、旋转和夹爪宽度）、观测状态（如编码器角度、IMU数据和姿态）、多个摄像头图像（包括左腕、右腕和基座摄像头，提供RGB和深度图像），以及时间戳、帧索引、集索引等元数据。数据集主要用于训练和评估机器人控制算法，支持双机械臂操作场景。This is a robotics task dataset constructed using the LeRobot toolkit. It contains 6 total episodes, 3265 total frames, and focuses on a single robotic task. The robotic platform utilized is the starpilot_yam_gripper. The dataset’s data is stored in Parquet format, while the corresponding videos are saved in MP4 format with a frame rate of 30 fps. Its features encompass actions (e.g., robotic arm position, rotation, and gripper width), observation states (e.g., encoder angles, IMU data, and end-effector poses), multiple camera images including left wrist, right wrist, and base cameras which provide both RGB and depth modalities, as well as metadata such as timestamps, frame indices, and episode indices. This dataset is primarily designed for training and evaluating robotic control algorithms, and supports dual-arm manipulation scenarios.

原始信息汇总

数据集概述

• 数据集名称: cell1_20260518_mohamehossam_sorting20260518_184458
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 机器人类型: starpilot_yam_gripper
• 总片段数 (Episodes): 6
• 总帧数 (Frames): 3265
• 总任务数 (Tasks): 1
• 数据块大小 (Chunks Size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据划分: 训练集 (train) 包含全部 6 个片段 (索引 0 至 5)

特征 (Features)

动作 (Action)

• 数据类型: float32
• 维度: 14
• 字段说明: 包含两个机械臂的关节位置和夹爪宽度
  • arm1_x, arm1_y, arm1_z, arm1_rx, arm1_ry, arm1_rz, arm1_grip_width
  • arm2_x, arm2_y, arm2_z, arm2_rx, arm2_ry, arm2_rz, arm2_grip_width

观测状态 (Observation.State)

• 数据类型: float32
• 维度: 32
• 字段说明: 包含两个机械臂的编码器角度、IMU 数据、位姿信息 (位置和四元数)、夹爪开合状态和距离
  • arm1_enc_deg, arm1_imu_ax, arm1_imu_ay, arm1_imu_az, arm1_imu_gx, arm1_imu_gy, arm1_imu_gz
  • arm1_pose_x, arm1_pose_y, arm1_pose_z, arm1_pose_qx, arm1_pose_qy, arm1_pose_qz, arm1_pose_qw
  • arm1_gripper_open, arm1_gripper_distance_m
  • arm2_enc_deg, arm2_imu_ax, arm2_imu_ay, arm2_imu_az, arm2_imu_gx, arm2_imu_gy, arm2_imu_gz
  • arm2_pose_x, arm2_pose_y, arm2_pose_z, arm2_pose_qx, arm2_pose_qy, arm2_pose_qz, arm2_pose_qw
  • arm2_gripper_open, arm2_gripper_distance_m

观测图像 (Observation.Images)

• 摄像头数量: 6 个摄像头，包含 RGB 图像和深度图像
• 分辨率与帧率:
  • left_wrist_0_camera_rgb_image: 480x640, 30 FPS, H.264 编码
  • left_wrist_0_camera_rgb_image_depth: 480x640, 30 FPS, H.264 编码
  • right_wrist_0_camera_rgb_image: 480x640, 30 FPS, H.264 编码
  • right_wrist_0_camera_rgb_image_depth: 480x640, 30 FPS, H.264 编码
  • base_0_camera_rgb_image: 480x640, 30 FPS, H.264 编码
  • base_1_camera_rgb_image: 768x1024, 30 FPS, H.264 编码

其他辅助特征

• timestamp: float32, 形状 [1]
• frame_index: int64, 形状 [1]
• episode_index: int64, 形状 [1]
• index: int64, 形状 [1]
• task_index: int64, 形状 [1]

数据文件路径

• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4