bimanual-so101-pickvials-real-10fps
收藏资源简介：
该数据集是一个用于机器人学任务的真实世界双手操作数据集，专注于拾取小瓶（pickvials）的场景。它包含50个训练片段，总帧数为22405，帧率为10fps。数据特征包括：动作数据（12维浮点数，表示左右机械臂的肩部、肘部、腕部关节位置以及夹爪位置）；观察状态数据（同样12维浮点数，反映机械臂的实时状态）；视频观察数据，来自三个摄像头视角（左腕、中心和右腕），每个视频的分辨率为480x640，3通道，使用AV1编码，帧率为10fps；以及元数据如时间戳、帧索引、片段索引、索引和任务索引。数据集以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人控制、模仿学习等研究。
This dataset is a real-world dual-arm manipulation dataset designed for robotics tasks, focusing on the scenario of small vial picking (pickvials). It contains 50 training episodes, with a total of 22405 frames and a frame rate of 10 fps. The data features include: action data, which is 12-dimensional floating-point numbers representing the shoulder, elbow, wrist joint positions and gripper positions of the left and right robotic arms; observation state data, also 12-dimensional floating-point numbers reflecting the real-time state of the robotic arms; video observation data from three camera viewpoints: left wrist, center, and right wrist, with each video having a resolution of 480×640, 3 channels, using AV1 encoding and a frame rate of 10 fps; as well as metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset is stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB, and is applicable to research in areas such as robotic control and imitation learning.
数据集概述
- 数据集名称: bimanual-so101-pickvials-real-10fps
- 许可证: Apache-2.0
- 任务类别: 机器人学（Robotics）
- 标签: LeRobot, so101, bimanual
- 创建工具: LeRobot
- 机器人类型: bi_so_follower
数据集结构
- 总片段数: 50
- 总帧数: 22405
- 总任务数: 1
- 帧率: 10 FPS
- 数据大小: 100 MB（数据文件），200 MB（视频文件）
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据划分: 仅含训练集（
train: 0:50）
特征字段
动作与状态（Action & Observation.State）
- 维度: 12维
- 数据类型: float32
- 字段名称:
- left_shoulder_pan.pos
- left_shoulder_lift.pos
- left_elbow_flex.pos
- left_wrist_flex.pos
- left_wrist_roll.pos
- left_gripper.pos
- right_shoulder_pan.pos
- right_shoulder_lift.pos
- right_elbow_flex.pos
- right_wrist_flex.pos
- right_wrist_roll.pos
- right_gripper.pos
图像观测（Observation.Images）
- 三个摄像头视角:
- wrist_left: 分辨率 480×640，3通道，视频编码 av1，帧率 10 FPS
- center: 分辨率 480×640，3通道，视频编码 av1，帧率 10 FPS
- wrist_right: 分辨率 480×640，3通道，视频编码 av1，帧率 10 FPS
- 是否深度图: 否
- 含音频: 否
其他字段
- timestamp: float32，形状 [1]
- frame_index: int64，形状 [1]
- episode_index: int64，形状 [1]
- index: int64，形状 [1]
- task_index: int64，形状 [1]
引用信息
- BibTeX: 当前为 [More Information Needed]
