taccap-g1-arrange-desk-items-0728
收藏资源简介：
该数据集是一个机器人学数据集，由LeRobot创建，专门用于训练双TacCap夹爪机器人执行整理桌面物品的任务。数据集包含144个episodes，总计442,002帧，数据以parquet格式存储，视频以mp4格式存储，帧率为30fps。特征包括动作（20维浮点数，控制左右夹爪的TCP位置、旋转和夹爪位置）和观测（状态和图像）。观测状态包含与动作相同的20维浮点数，而图像来自左右腕部摄像头（分辨率480x640）和左右触觉传感器（分辨率400x700），均为彩色视频。数据集还包含时间戳、帧索引、episode索引等元数据。所有数据仅用于训练分割。该数据集支持机器人学习中的触觉感知和操作任务。
This is a robotics dataset created by LeRobot, specifically designed for training dual TacCap gripper robots to perform the task of tidying desktop items. The dataset contains 144 episodes, totaling 442,002 frames. The data is stored in Parquet format, while the videos are stored in MP4 format with a frame rate of 30 fps. The features include actions (20-dimensional floating-point vectors, which control the TCP position, rotation and gripper position of the left and right grippers) and observations (states and images). The observation states include the same 20-dimensional floating-point vectors as the actions, while the images come from the left and right wrist-mounted cameras (resolution 480×640) and left and right tactile sensors (resolution 400×700), all of which are color videos. The dataset also includes metadata such as timestamps, frame indices and episode indices. All data is solely intended for training segmentation tasks. This dataset supports tactile perception and manipulation tasks in robotic learning.
数据集概述
- 数据集名称: taccap-g1-arrange-desk-items-0728
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 用途: 该数据集用于机器人操作任务，基于LeRobot框架创建，具体任务为“整理桌面物品”。
数据集规模
- 总片段数 (Episodes): 144
- 总帧数 (Frames): 442,002
- 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
数据划分
- 训练集 (train): 全部144个片段 (0:144)
机器人类型
- 机器人:
bi_taccap_gripper(双臂触觉夹爪机器人)
数据特征
动作 (Action)
- 数据类型: float32
- 维度: 20
- 包含: 左右臂TCP位置(x,y,z,旋转r1-r6) + 左右夹爪位置(gripper.pos)
观察状态 (Observation.State)
- 数据类型: float32
- 维度: 20
- 包含: 与动作相同的20个状态量
观察图像 (Observation.Images)
| 图像名称 | 分辨率 (H×W×C) | 编码格式 | 帧率 |
|---|---|---|---|
| left_tactile_left | 400×700×3 | H.264 | 30 |
| left_tactile_right | 400×700×3 | H.264 | 30 |
| left_wrist | 480×640×3 | H.264 | 30 |
| right_tactile_left | 400×700×3 | H.264 | 30 |
| right_tactile_right | 400×700×3 | H.264 | 30 |
| right_wrist | 480×640×3 | H.264 | 30 |
所有图像均为彩色RGB，非深度图，无音频。
其他特征
- 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]
数据存储格式
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet(Parquet文件) - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4(MP4视频) - 分块大小: 1000
引用
@misc{xense-taccap-lerobot, author = {XenseRobotics Team}, title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support}, howpublished = {url{https://github.com/Vertax42/xense-taccap-lerobot}}, year = {2026} }
