eval_exp9_sc1var_grasp_the_red_box_20260528-181542
收藏资源简介：
该数据集是由LeRobot创建的机器人数据集，专门用于评估和训练机器人抓取任务，具体任务为抓取红色盒子。它包含一个完整的episode，共2569帧，以30fps录制，数据包括机器人的动作（6个关节位置）、状态观测（6个关节位置）、三个视角的图像观测（前视、顶视、夹爪视角，均为480x640 RGB视频），以及时间戳、帧索引、episode索引等元数据。数据集采用Apache 2.0许可证，存储为parquet格式和MP4视频文件，适用于机器人控制、模仿学习或强化学习研究。
This is a robotics dataset created by LeRobot, specifically designed for evaluating and training robotic grasping tasks, with the target task being grasping a red box. It contains one complete episode with a total of 2569 frames recorded at 30fps. The data includes robotic actions (6 joint positions), state observations (6 joint positions), image observations from three perspectives: front view, top view and gripper view, all of which are 480x640 RGB videos, as well as metadata such as timestamps, frame indices and episode indices. The dataset is licensed under Apache 2.0, stored in Parquet format and MP4 video files, and is suitable for research in robotic control, imitation learning or reinforcement learning.
数据集概述
- 名称: kunhsiang/eval_exp9_sc1var_grasp_the_red_box_20260528-181542
- 许可证: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot
数据集结构
- 机器人类型: so_follower
- 总片段数 (Episodes): 1
- 总帧数 (Frames): 2569
- 总任务数 (Tasks): 1
- 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
- 训练/测试划分: 全部数据用于训练 (train: 0:1)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态，包含与动作相同的6个关节位置信息 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率480x640，3通道，AV1编码，30fps |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道，AV1编码，30fps |
| observation.images.gripper | video | [480, 640, 3] | 夹爪摄像头视频，分辨率480x640，3通道，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 |
数据文件路径
- 数据文件:
data/*/*.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
创建工具
该数据集使用 LeRobot 创建。
