example_dataset_1
收藏魔搭社区2025-08-16 更新2025-08-16 收录
下载链接：
https://modelscope.cn/datasets/RoboCoin/example_dataset_1
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资源简介：
## Dataset Authors
This dataset is contributed by [[RobotCoin](https://RobotCoin.github.io)]
This dataset is annotated by [[RobotCoin](https://RobotCoin.github.io)]
## Dataset Description
This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.
- **Homepage:** https://RobotCoin.github.io/
- **Paper:** in comming
- **License:** apache-2.0
## Dataset Tags
- RobotCoin
- LeRobot
## Task Descriptions
### tasks
build blocks
### sub_tasks
Place the arch-shaped block in the center of view with the right gripper
Grasp the triangle-shaped block with the left gripper
Grasp the arch-shaped block with the right gripper
Grasp the triangle-shaped block with the right gripper
Place the box-shaped block onto the arch-shaped block with the right gripper
Grasp the arch-shaped block with the left gripper
Place the triangle-shaped block onto the box-shaped block with the right gripper
Grasp the box-shaped block with the left gripper
Place the arch-shaped block in the center of view with the left gripper
Place the triangle-shaped block onto the box-shaped block with the left gripper
Grasp the box-shaped block with the right gripper
Place the box-shaped block onto the arch-shaped block with the left gripper
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "realman",
"total_episodes": 498,
"total_frames": 595002,
"total_tasks": 1,
"total_videos": 1494,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:498"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"states": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"actions": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
```bibtex
```
# 数据集作者
本数据集由[RobotCoin](https://RobotCoin.github.io) 贡献并完成标注。
# 数据集描述
本数据集采用基于LeRobot（https://github.com/huggingface/lerobot）的扩展格式，且与LeRobot完全兼容。
- **官方主页：** https://RobotCoin.github.io/
- **论文：** 即将发布
- **许可协议：** Apache-2.0
# 数据集标签
- RobotCoin
- LeRobot
# 任务描述
### 总任务
积木搭建
### 子任务
1. 使用右机械爪将拱形积木放置于视野中央
2. 使用左机械爪抓取三角积木
3. 使用右机械爪抓取拱形积木
4. 使用右机械爪抓取三角积木
5. 使用右机械爪将方形积木放置于拱形积木之上
6. 使用左机械爪抓取拱形积木
7. 使用右机械爪将三角积木放置于方形积木之上
8. 使用左机械爪抓取方形积木
9. 使用左机械爪将拱形积木放置于视野中央
10. 使用左机械爪将三角积木放置于方形积木之上
11. 使用右机械爪抓取方形积木
12. 使用左机械爪将方形积木放置于拱形积木之上
# 数据集结构
[meta/info.json](meta/info.json)：
json
{
"代码库版本": "v2.1",
"机器人类型": "realman",
"总回合数": 498,
"总帧数": 595002,
"总任务数": 1,
"总视频数": 1494,
"总分片数": 1,
"分片大小": 1000,
"帧率": 25,
"数据划分": {
"训练集": "0:498"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测数据.图像.顶置摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"补充信息": {
"视频帧率": 25.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"无音频": false
}
},
"观测数据.图像.左腕部摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"补充信息": {
"视频帧率": 25.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"无音频": false
}
},
"观测数据.图像.右腕部摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"补充信息": {
"视频帧率": 25.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"无音频": false
}
},
"状态数据": {
"数据类型": "float32",
"形状": [
30
],
"维度名称": [
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右机械夹爪关节",
"右末端执行器X轴位置",
"右末端执行器Y轴位置",
"右末端执行器Z轴位置",
"右末端执行器四元数X分量",
"右末端执行器四元数Y分量",
"右末端执行器四元数Z分量",
"右末端执行器四元数W分量",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左机械夹爪关节",
"左末端执行器X轴位置",
"左末端执行器Y轴位置",
"左末端执行器Z轴位置",
"左末端执行器四元数X分量",
"左末端执行器四元数Y分量",
"左末端执行器四元数Z分量",
"左末端执行器四元数W分量"
]
},
"动作数据": {
"数据类型": "float32",
"形状": [
30
],
"维度名称": [
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右机械夹爪关节",
"右末端执行器X轴位置",
"右末端执行器Y轴位置",
"右末端执行器Z轴位置",
"右末端执行器四元数X分量",
"右末端执行器四元数Y分量",
"右末端执行器四元数Z分量",
"右末端执行器四元数W分量",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左机械夹爪关节",
"左末端执行器X轴位置",
"左末端执行器Y轴位置",
"左末端执行器Z轴位置",
"左末端执行器四元数X分量",
"左末端执行器四元数Y分量",
"左末端执行器四元数Z分量",
"左末端执行器四元数W分量"
]
},
"下一时刻结束标记": {
"数据类型": "bool",
"形状": [
1
],
"维度名称": null
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"样本索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}
# 引用信息
bibtex
提供机构：
maas
创建时间：
2025-08-13
