pickplace_135cam_newdemos_20260526_161032_remapped

该数据集是使用LeRobot创建的，专为机器人学任务设计，具体涉及拾取和放置操作。数据集包含100个训练片段，总帧数为53178，帧率为30fps。数据以parquet文件格式存储，总大小为100MB，视频文件大小为200MB。数据集结构包括多个特征：动作数据（包含6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的6个关节位置）、三个摄像头的视频观测（camera1和camera2分辨率为1280x720，camera3分辨率为640x480，均为彩色视频）、以及索引、时间戳等元数据。机器人类型为so_follower，适用于训练和评估机器人控制模型。数据集采用Apache 2.0许可证，但主页和论文信息暂未提供。This dataset was developed using LeRobot, specifically tailored for robotics tasks, particularly pick-and-place operations. It contains 100 training episodes, with a total of 53,178 frames at a frame rate of 30 fps. The data is stored in Parquet format, with a total size of 100 MB, while the accompanying video files occupy 200 MB in total. The dataset structure includes multiple types of features: action data (comprising 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (the same 6 joint positions as those in the action data), video observations from three cameras (camera1 and camera2 have a resolution of 1280x720, camera3 has a resolution of 640x480, all of which are color videos), as well as metadata including indices, timestamps, and other related information. The robot platform utilized is so_follower, and this dataset is suitable for training and evaluating robotic control models. This dataset is licensed under Apache 2.0; however, its official homepage and associated paper information are not yet available.

原始信息汇总

数据集概述

• 数据集名称: pickplace_135cam_newdemos_20260526_161032_remapped
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 数据格式: Parquet 文件，路径为 data/*/*.parquet
• 视频格式: MP4 文件，路径为 videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据大小: 数据文件约 100 MB，视频文件约 200 MB
• 帧率: 30 FPS
• 机器人类型: so_follower
• 总片段数: 100
• 总帧数: 53178
• 总任务数: 1

数据特征

• 动作 (action): 6维浮点数组，包含机器人关节位置（肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪）
• 观察-图像:
  • camera1: 视频，分辨率 1280x720，3 通道，AV1 编码，30 FPS
  • camera2: 视频，分辨率 1280x720，3 通道，AV1 编码，30 FPS
  • camera3: 视频，分辨率 640x480，3 通道，AV1 编码，30 FPS
• 观察-状态 (observation.state): 6维浮点数组，与动作相同的关节位置
• 其他特征:
  • episode_index: 片段索引 (int64)
  • frame_index: 帧索引 (int64)
  • index: 全局索引 (int64)
  • task_index: 任务索引 (int64)
  • timestamp: 时间戳 (float32)

数据集划分

• 训练集: 0:100（100 个片段）

引用

• 引用信息: 待补充