taccap-slice-cucumber-0705

该数据集由LeRobot创建，专注于机器人学领域，具体涉及双TacCap夹持器机器人（bi_taccap_gripper）的操作数据。数据集包含3个episodes，总帧数19026，帧率为30fps。数据以parquet格式存储，视频以mp4格式存储。特征包括：动作数据（20维浮点数组，表示左右夹持器的TCP位置、旋转和夹持器位置）、观察状态数据（类似结构的20维数组）、多个图像观察数据（包括左右触觉传感器和手腕摄像头的视频，触觉传感器视频分辨率为400x700，手腕摄像头视频分辨率为480x640，均为彩色图像，帧率30fps），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。该数据集适用于机器人控制、感知和强化学习任务，旨在支持触觉反馈和视觉融合的研究。

This dataset was developed by LeRobot, focusing on the field of robotics, specifically containing operational data for the bi_taccap_gripper dual gripper. It comprises 3 episodes, with a total of 19026 frames and a frame rate of 30 fps. The dataset's data is stored in Parquet format, while the accompanying videos are stored in MP4 format. The included features are action data (a 20-dimensional floating-point array representing the TCP position, rotation, and gripper position of both the left and right grippers), observation state data (a 20-dimensional array with a similar structure), multiple image observation data including videos from the left and right tactile sensors and the wrist-mounted camera— the tactile sensor videos have a resolution of 400×700 and the wrist camera videos have a resolution of 480×640, both being color images with a frame rate of 30 fps, as well as metadata such as timestamps, frame indices, episode indices, sample indices, and task indices. This dataset is suitable for robotics control, perception, and reinforcement learning tasks, and aims to support research involving tactile feedback and visual fusion.

原始信息汇总

数据集概述

• 数据集名称: TacVerse/taccap-slice-cucumber-0705
• 许可证: Apache-2.0
• 任务类别: 机器人技术 (Robotics)
• 创建工具: 基于 LeRobot (https://github.com/huggingface/lerobot) 生成

数据集结构

基本信息

• 代码库版本: v3.0
• 机器人类型: bi_taccap_gripper
• 总轮数 (Episodes): 3
• 总帧数 (Frames): 19,026
• 总任务数: 1
• 分块大小 (Chunks size): 1,000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据分割: 训练集 (splits.train) 包含第 0 到第 2 轮 (索引 0:3)

数据路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征 (Features)

特征名称	数据类型	形状	描述
action	float32	[20]	动作指令，包含左右手 TCP 位姿 (x, y, z, r1-r6) 和夹爪位置
observation.state	float32	[20]	观测到的机器人状态，与 action 具有相同的 20 维结构
observation.images.left_tactile_left	video	[400, 700, 3]	左触觉传感器左侧摄像头视频，h264 编码，30fps，400x700 分辨率，无音频
observation.images.left_tactile_right	video	[400, 700, 3]	左触觉传感器右侧摄像头视频，h264 编码，30fps，400x700 分辨率
observation.images.left_wrist	video	[480, 640, 3]	左手腕摄像头视频，h264 编码，30fps，480x640 分辨率
observation.images.right_tactile_left	video	[400, 700, 3]	右触觉传感器左侧摄像头视频，h264 编码，30fps，400x700 分辨率
observation.images.right_tactile_right	video	[400, 700, 3]	右触觉传感器右侧摄像头视频，h264 编码，30fps，400x700 分辨率
observation.images.right_wrist	video	[480, 640, 3]	右手腕摄像头视频，h264 编码，30fps，480x640 分辨率
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	轮次索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

引用信息

bibtex @misc{xense-taccap-lerobot, author = {XenseRobotics Team}, title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support}, howpublished = {url{https://github.com/Vertax42/xense-taccap-lerobot}}, year = {2026} }