G1_Bottle
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，针对Unitree_G1_Inspire_SingleCam机器人。它包含75个episodes，总计45376帧，帧率为30fps，数据以parquet格式存储。特征包括观察状态（26维浮点数，表示左右肩、肘、腕和手部关节的角度）、动作（26维浮点数，对应关节控制）、观察图像（480x640x3视频，使用av1编码，无音频）、时间戳、帧索引、episode索引、索引和任务索引。数据集仅提供训练分割，数据文件大小为100MB，视频文件大小为200MB。
This dataset was created by LeRobot, focusing on robotics tasks and tailored for the Unitree_G1_Inspire_SingleCam robot. It contains 75 episodes, totaling 45376 frames with a frame rate of 30fps, and the data is stored in Parquet format. Its features include observation states (26-dimensional floating-point numbers representing the angles of left/right shoulder, elbow, wrist and hand joints), actions (26-dimensional floating-point numbers corresponding to joint control), observation images (480x640x3 videos encoded with AV1, no audio), timestamps, frame indices, episode indices, indices and task indices. This dataset only provides the training split, with a total data file size of 100MB and a video file size of 200MB.
数据集概述：G1_Bottle
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构与规模
- 机器人类型: Unitree_G1_Inspire_SingleCam
- 总片段数 (Episodes): 75
- 总帧数 (Frames): 45,376
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分割: 训练集包含全部 75 个片段 (0:75)
特征与数据格式
数据集包含多种特征，存储为 Parquet 文件和 MP4 视频。
状态与动作 (State & Action)
| 特征名 | 数据类型 | 维度 (Shape) | 描述 |
|---|---|---|---|
observation.state |
float32 | [26] | 机器人26个关节的观测状态（包括左右臂、手腕及手指关节） |
action |
float32 | [26] | 对应的26个关节的动作指令，结构与状态相同 |
关节名称列表:
- 左臂:
kLeftShoulderPitch,Roll,Yaw,kLeftElbow,kLeftWristRoll,Pitch,Yaw - 右臂:
kRightShoulderPitch,Roll,Yaw,kRightElbow,kRightWristRoll,Pitch,Yaw - 左手:
kLeftHandPinky,Ring,Middle,Index,kLeftHandThumbBend,kLeftHandThumbRotation - 右手:
kRightHandPinky,Ring,Middle,Index,kRightHandThumbBend,kRightHandThumbRotation
视觉观测 (Visual Observation)
| 特征名 | 数据类型 | 维度 (Shape) | 视频信息 |
|---|---|---|---|
observation.images.cam_high |
video | [480, 640, 3] (高x宽x通道) | 编码: av1, 帧率: 30 FPS, 像素格式: yuv420p, 无音频 |
元数据字段
- 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]
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
