demo_src_three_piece_assembly_task_D0_robot_Panda_gripper_PandaGripper_additionalCams

该数据集由LeRobot创建，是一个机器人学数据集，适用于跨具身机器人任务。数据集包含500个训练集片段，总计168,066帧，帧率为20fps。数据特征包括动作（7维浮点数，表示dx、dy、dz、drx、dry、drz和夹爪控制）、观测状态（2维浮点数）、末端执行器位置（7维浮点数，表示位置和四元数）、夹爪状态（6维浮点数）、关节位置（7维浮点数），以及前视图和侧视图的图像观测（256x256 RGB视频）。数据集还包含时间戳、帧索引、片段索引等元数据。数据以Parquet格式存储，视频以MP4格式存储，总数据大小约100MB，视频大小约200MB。This dataset was created by LeRobot, and it is a robotics dataset designed for cross-embodied robotic tasks. It contains 500 training episodes, with a total of 168,066 frames at a frame rate of 20 fps. The data features include actions (7-dimensional floating-point numbers representing dx, dy, dz, drx, dry, drz and gripper control), observation states (2-dimensional floating-point vectors), end-effector positions (7-dimensional floating-point numbers representing position and quaternion), gripper states (6-dimensional floating-point numbers), joint positions (7-dimensional floating-point numbers), as well as image observations from front and side views (256x256 RGB videos). The dataset also includes metadata such as timestamps, frame indices and episode indices. The tabular data is stored in Parquet format, while the videos are stored in MP4 format. The total size of the tabular data is approximately 100 MB, and the total size of the video files is around 200 MB.

原始信息汇总

数据集概述

• 数据集名称: demo_src_three_piece_assembly_task_D0_robot_Panda_gripper_PandaGripper_additionalCams
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 创建工具: LeRobot

数据集规模

• 总片段数: 500
• 总帧数: 168,066
• 总任务数: 1
• 帧率: 20 fps
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 块大小: 1000
• 机器人类型: cross_embodiment
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据集划分

• 训练集: 片段索引 0 到 499（全部 500 个片段）

特征定义

特征名称	数据类型	形状	字段说明
action	float32	[7]	机器人动作：dx, dy, dz, drx, dry, drz, gripper
observation.state	float32	[2]	机器人状态：zero0, zero1
observation.eef	float32	[7]	末端执行器位姿：eef_pos_x, eef_pos_y, eef_pos_z, eef_quat_x, eef_quat_y, eef_quat_z, eef_quat_w
observation.gripper	float32	[6]	夹爪位置：gripper_qpos_0 至 gripper_qpos_5
observation.joint	float32	[7]	关节位置：joint_pos_0 至 joint_pos_6
observation.eef_gripper	float32	[13]	末端执行器位姿与夹爪位置组合
observation.joint_gripper	float32	[13]	关节位置与夹爪位置组合
observation.images.frontview	video	[256, 256, 3]	前视图 RGB 视频，AV1 编码，20 fps
observation.images.sideview	video	[256, 256, 3]	侧视图 RGB 视频，AV1 编码，20 fps
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

引用信息

• BibTeX: 待补充（当前标记为 [More Information Needed]）