TrossenRoboticsCommunity/mobile-block-transfer-v3
收藏Hugging Face2026-04-08 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/TrossenRoboticsCommunity/mobile-block-transfer-v3
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "mobileai_robot",
"total_episodes": 21,
"total_frames": 12491,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:21"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos",
"x.vel",
"theta.vel"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos",
"x.vel",
"theta.vel"
],
"shape": [
16
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
## Notes
mobile-block-transfer-v3 — Dataset Overview
Task Description
A mobile bimanual manipulation task performed with the WidowX AI robot mounted on a motorized base.
The robot must pick up a block with one arm, transfer it to the opposite arm, and place it onto a target location while the base remains stationary or performs small corrective motions.
| Field | Value |
| --- | --- |
| **Robot** | Mobile — bimanual WidowX AI with motorized base |
| **Dataset Format** | LeRobot v3 |
| **Episodes** | 21 |
| **Operator** | Ali Basalam |
| **Organization** | Trossen Robotics |
| **Framework** | LeRobot Plugin (``lerobot-trossen``, v0.4.4) |
| **Cameras** | ``cam_high``, ``cam_left_wrist``, ``cam_right_wrist`` |
| **Converted from v2 → v3** | No — native v3 dataset |
| **Notes** | (no v3 → v2 conversion path exists). |
---
许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "mobileai_robot",
"总回合数": 21,
"总帧数": 12491,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500,
"帧率": 30,
"数据集划分": {
"训练集": "0:21"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"字段列表": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos",
"x.vel",
"theta.vel"
],
"维度": [16]
},
"观测.状态": {
"数据类型": "float32",
"字段列表": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos",
"x.vel",
"theta.vel"
],
"维度": [16]
},
"观测.图像.cam_high": {
"数据类型": "视频",
"维度": [480, 640, 3],
"字段列表": ["高度", "宽度", "通道数"],
"补充信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"视频.是否包含音频": false
}
},
"观测.图像.cam_left_wrist": {
"数据类型": "视频",
"维度": [480, 640, 3],
"字段列表": ["高度", "宽度", "通道数"],
"补充信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"视频.是否包含音频": false
}
},
"观测.图像.cam_right_wrist": {
"数据类型": "视频",
"维度": [480, 640, 3],
"字段列表": ["高度", "宽度", "通道数"],
"补充信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"视频.是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"维度": [1],
"字段列表": null
},
"帧索引": {
"数据类型": "int64",
"维度": [1],
"字段列表": null
},
"回合索引": {
"数据类型": "int64",
"维度": [1],
"字段列表": null
},
"样本索引": {
"数据类型": "int64",
"维度": [1],
"字段列表": null
},
"任务索引": {
"数据类型": "int64",
"维度": [1],
"字段列表": null
}
}
}
## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]
## 备注
mobile-block-transfer-v3 — 数据集概览
### 任务说明
本数据集包含搭载机动底座的WidowX AI双臂机器人完成的移动双臂操控任务：机器人需使用单臂拾取方块，将其转移至另一臂，随后放置至目标位置，过程中底座可保持静止或执行小幅修正运动。
| 字段 | 取值 |
| --- | --- |
| **机器人** | 搭载机动底座的移动双臂WidowX AI机器人 |
| **数据集格式** | LeRobot v3 |
| **总回合数** | 21 |
| **操作人员** | Ali Basalam |
| **所属机构** | Trossen Robotics |
| **开发框架** | LeRobot插件（`lerobot-trossen`，v0.4.4） |
| **相机配置** | `cam_high`、`cam_left_wrist`、`cam_right_wrist` |
| **数据集来源** | 未从v2转换至v3 — 原生v3数据集 |
| **备注** | 不存在v3到v2的转换路径。
提供机构：
TrossenRoboticsCommunity
