pick_place_so101_battery_sort_9v_aa_280eps
收藏资源简介：
该数据集是一个机器人操作数据集，专门设计用于抓取和放置任务，场景聚焦于电池排序（例如9V和AA电池）。它包含280个episodes，总计167,487帧，覆盖2个任务。数据以30fps的帧率采集，包括机器人动作（如肩部、肘部、腕部和夹爪的位置）和观察状态（如关节位置和图像）。观察图像来自顶部摄像头和腕部摄像头，分辨率均为480x640，3通道。数据集以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集使用Apache 2.0许可证，基于LeRobot代码库v3.0创建，适用于机器人学习研究。
This dataset is a robotic manipulation dataset specifically designed for grasping and placing tasks, with the scenario focused on battery sorting (e.g., 9V and AA batteries). It contains 280 episodes, totaling 167,487 frames, covering 2 tasks. The data is collected at 30 fps, including robotic actions such as positions of the shoulder, elbow, wrist, and gripper, as well as observation states including joint positions and images. The observation images are captured by a top-down camera and a wrist-mounted camera, both with a resolution of 480x640 and 3 channels. The dataset is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. It is released under the Apache 2.0 license, created based on the LeRobot codebase v3.0, and is applicable to robotic learning research.
数据集概述
- 数据集名称: pick_place_so101_battery_sort_9v_aa_280eps
- 任务类别: 机器人学 (robotics)
- 许可证: Apache 2.0
- 创建工具: 基于 LeRobot 创建
- 可视化: 可通过 LeRobot 可视化界面 查看
数据集规模
- 总片段数: 280
- 总帧数: 167,487
- 任务数量: 2
- 帧率: 30 fps
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分块大小: 1000
- 数据拆分: 所有 280 个片段均用于训练（train）
数据集结构
- 机器人类型: so_follower
- 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
特征字段
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含 6 个关节指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态，与 action 维度相同（即关节位置） |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头图像，AV1 编码，30 fps，YUV420P 色彩格式 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头图像，AV1 编码，30 fps，YUV420P 色彩格式 |
| 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 |
