pickgreentea_SCGS_filtered
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，使用Franka机器人进行数据采集。数据集包含64个完整的情节，总计171,446帧，帧率为30 fps。数据以Parquet文件格式存储，总数据文件大小为100 MB，视频文件大小为200 MB。数据集的特征包括动作（如delta_ee_ose和gripper_cmd_bin）、观察状态（如关节位置、夹爪状态和末端执行器位姿）、来自两个摄像头的图像观测（分辨率480x640，RGB格式），以及时间戳、帧索引等元数据。所有数据仅用于训练分割，适用于机器人控制、模仿学习或强化学习等应用场景。
This dataset was created by LeRobot, focusing on robotics tasks with data collected using Franka robots. It comprises 64 complete episodes, totaling 171,446 frames at a frame rate of 30 fps. The data is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset features include actions (e.g., delta_ee_ose and gripper_cmd_bin), observation states (e.g., joint positions, gripper status, and end-effector poses), image observations from two cameras with a resolution of 480×640 in RGB format, as well as metadata such as timestamps and frame indices. All data is exclusively used for training segmentation tasks, and is applicable to application scenarios including robot control, imitation learning, and reinforcement learning.
数据集概述
- 数据集名称: pickgreentea_SCGS_filtered
- 许可证: Apache 2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 基于 LeRobot 创建
数据集规模与结构
- 机器人类型: Franka
- 总片段数 (Episodes): 64
- 总帧数 (Frames): 171,446
- 总任务数: 1
- 帧率: 30 FPS
- 数据文件大小: 约 100 MB (Parquet 格式)
- 视频文件大小: 约 200 MB (MP4 格式)
- 数据划分: 全部用于训练（train: 0-63）
- 数据分块: 每块含 1000 帧，数据文件路径为
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet，视频文件路径为videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征字段说明
| 字段名称 | 数据类型 | 维度 | 说明 |
|---|---|---|---|
| action | float32 | (7,) | 末端执行器 delta 位姿 (dx, dy, dz, drx, dry, drz) 及夹爪指令 (gripper_cmd_bin) |
| observation.state | float32 | (15,) | 7 个关节位置、夹爪归一化状态、夹爪指令、末端执行器绝对位姿 (x, y, z, rx, ry, rz) |
| observation.images.camera_1 | video | (480, 640, 3) | 摄像头1视频流 (AV1 编码, 30 FPS, 无音频) |
| observation.images.camera_2 | video | (480, 640, 3) | 摄像头2视频流 (AV1 编码, 30 FPS, 无音频) |
| 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 |
