SARM-robosuite-can-mg-stages

该数据集是一个使用LeRobot创建的机器人学领域数据集，专门针对panda机器人。它包含100个训练集，总帧数为15000，帧率为20fps，分为1个块，每个块大小为1000。数据以parquet格式存储，视频以mp4格式存储。特征包括状态（9维浮点数）、动作（7维浮点数）、奖励（1维浮点数）以及两种RGB图像：agentview-images-rgb（256x256x3）和robot0-eye-in-hand-images-rgb（256x256x3）。数据集用于机器人控制任务，支持训练和评估。

This dataset is a robotics dataset developed using LeRobot, specifically tailored for the Panda robot. It includes 100 training sets, with a total of 15,000 frames at a frame rate of 20 fps, and is divided into 1 chunk with each chunk having a size of 1000. The tabular data is stored in Parquet format, while the video files are stored in MP4 format. The dataset features include a 9-dimensional floating-point state, a 7-dimensional floating-point action, a 1-dimensional floating-point reward, as well as two types of RGB images: agentview-images-rgb (256×256×3) and robot0-eye-in-hand-images-rgb (256×256×3). This dataset is intended for robotics control tasks, supporting both training and evaluation workflows.

原始信息汇总

数据集概述

• 名称: SARM-robosuite-can-mg-stages
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 来源: 使用 LeRobot 框架创建。

数据集结构

• 机器人类型: Panda
• 总集数 (Episodes): 100
• 总帧数 (Frames): 15,000
• 总任务数: 1
• 总视频数: 200
• 帧率 (FPS): 20
• 划分: 训练集 (train) 包含全部 100 集
• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征说明

特征名	数据类型	形状	说明
state	float32	[9]	机器人状态信息，含9个维度
actions	float32	[7]	机器人动作指令，含7个维度
reward	float32	[1]	奖励值，单维度
agentview-images-rgb	video	[256, 256, 3]	机器人视角的RGB图像，分辨率256x256
robot0-eye-in-hand-images-rgb	video	[256, 256, 3]	机器人手部摄像头的RGB图像，分辨率256x256