Pick_Place_Orange_20260712_030613
收藏资源简介：
该数据集是一个机器人操作数据集，专门用于Pick and Place任务，涉及橙色物体。它包含50个episodes，总计14354帧数据，采集自一个名为so_follower的机器人类型。数据集提供了丰富的多模态信息，包括机器人的动作（6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（同样6个关节位置）、以及来自手腕摄像头（wristcam）和侧面摄像头（sidecam）的视频观察（分辨率480x640，3通道，30fps）。此外，还包含时间戳、帧索引、episode索引、任务索引等元数据。数据以Parquet格式存储，视频以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。该数据集适用于机器人学习、强化学习或计算机视觉研究，特别是针对抓取和放置任务。
This dataset is a robotic manipulation dataset specifically tailored for the Pick and Place task involving orange objects. It contains 50 episodes, totaling 14,354 frames, collected from a robotic system named so_follower. The dataset provides rich multimodal information, including robot actions (6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also consisting of 6 joint positions), as well as video observations from the wrist camera (wristcam) and side camera (sidecam) with a resolution of 480x640, 3 channels, and 30 fps. Additionally, it includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet format, while the videos are stored in MP4 format, with a total data file size of 100 MB and total video file size of 200 MB. This dataset is suitable for research in robotic learning, reinforcement learning, or computer vision, particularly for grasping and placing tasks.
数据集概述
- 名称: Pick_Place_Orange_20260712_030613
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, robotics, lerobot, LeLab
数据集规模
- 总片段数 (Episodes): 50
- 总帧数 (Frames): 14,354
- 总任务数: 1
- 数据集分割: 全部用于训练 (train: 0:50)
- 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 帧率: 30 FPS
数据集结构
数据集包含以下特征：
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作指令 (肩部、肘部、腕部、夹爪等位置) |
| observation.state | float32 | [6] | 6维机器人状态观测 (与action维度相同) |
| observation.images.wristcam | video | [480, 640, 3] | 腕部摄像头视频 (高度480, 宽度640, RGB通道, 编码av1) |
| observation.images.sidecam | video | [480, 640, 3] | 侧方摄像头视频 (高度480, 宽度640, RGB通道, 编码av1) |
| 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 |
机器人类型
- 机器人型号: so_follower
数据路径
- 表格数据:
data/*/*.parquet(Parquet格式) - 视频数据:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4(MP4格式)
