pick_battery_bomb_v3_merged

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。它包含204个episodes，总计162078帧，数据文件大小为2000MB，视频文件大小为0.001MB，帧率为30fps。数据集涉及2个具体任务，适用于双机械臂机器人（bi_so_follower类型）。数据特征包括动作和观察状态：动作由12个浮点数值组成，表示左右机械臂的12个关节位置（如左肩平移、左肩抬升、左肘弯曲、左腕弯曲、左腕滚动、左夹爪位置，以及右机械臂的对应关节）。观察状态同样包含12个浮点数值，表示关节位置。此外，观察还包括两个图像：left_main和right_right_wrist，均为240x320分辨率、3通道的RGB视频，使用h264编解码器。数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据以parquet格式存储，视频以mp4格式存储。数据集使用Apache 2.0许可证，适用于机器人学研究和应用。This is a robotic task dataset created using the LeRobot tool. It contains 204 episodes, totaling 162078 frames, with a total data file size of 2000 MB, video file size of 0.001 MB, and a frame rate of 30 fps. The dataset covers 2 specific tasks and is applicable to dual-arm robots (bi_so_follower type). The dataset features action and observation states: The action consists of 12 floating-point values, representing the 12 joint positions of the left and right robotic arms, including left shoulder translation, left shoulder elevation, left elbow flexion, left wrist flexion, left wrist rotation, left gripper position, and the corresponding joint positions for the right robotic arm. The observation state also includes 12 floating-point values representing joint positions. Additionally, the observations include two images: left_main and right_right_wrist, which are both 240×320 resolution, 3-channel RGB videos encoded with the H.264 codec. The dataset also includes metadata such as timestamps, frame indices, episode indices, indexes, and task indices. The data is stored in Parquet format, while the videos are stored in MP4 format. This dataset is released under the Apache 2.0 license and is suitable for robotics research and applications.

原始信息汇总

数据集概述

数据集名称: pick_battery_bomb_v3_merged
主页: [更多信息待补充]
论文: [更多信息待补充]
许可证: Apache-2.0

任务与标签

• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, TeLeRobot, skill2, merged

数据集规模与结构

• 代码版本: v3.0
• 机器人类型: bi_so_follower
• 总片段数: 204
• 总帧数: 162,078
• 总任务数: 2
• 块大小 (chunks_size): 1000
• 数据文件大小: 2000 MB
• 视频文件大小: 0.001 MB
• 帧率 (FPS): 30
• 数据划分: 训练集 (train) 包含所有 204 个片段

数据格式与路径

• 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

特征描述

特征名	数据类型	形状	说明
action	float32	(12,)	包含左右手臂各6个关节位置（如肩、肘、腕、夹爪）的动作信息
observation.state	float32	(12,)	与动作特征相同的12维机器人状态信息
observation.images.left_main	video	(240, 320, 3)	左侧主摄像头视频，分辨率240x320，RGB三通道，H.264编码，无音频
observation.images.right_right_wrist	video	(240, 320, 3)	右侧右腕摄像头视频，分辨率240x320，RGB三通道，H.264编码，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