demo_src_three_piece_assembly_task_D1_robot_IIWA_gripper_Robotiq85Gripper
收藏资源简介：
这是一个由LeRobot创建的机器人学数据集，专注于跨具身机器人任务。数据集包含500个训练片段，总计167,971帧，帧率为20fps。数据以parquet文件和mp4视频格式存储，总数据大小约100MB，视频大小约200MB。数据集特征包括：动作数据（7维浮点数，表示机器人末端执行器的位移、旋转和夹爪控制）、观察数据（如末端执行器位置和姿态、关节位置、夹爪状态、以及从agent视角和腕部摄像头捕获的256x256 RGB图像）。该数据集适用于机器人模仿学习、强化学习和跨具身机器人研究。
This is a robotics dataset created by LeRobot, focusing on cross-embodied robot tasks. It contains 500 training episodes, totaling 167,971 frames at a frame rate of 20fps. The data is stored in parquet files and mp4 video format, with a total data size of approximately 100MB and video size of about 200MB. Dataset features include: action data (7-dimensional floating-point numbers representing robot end-effector displacement, rotation, and gripper control), observation data (such as end-effector position and pose, joint positions, gripper state, and 256x256 RGB images captured from the agents perspective and wrist camera). The dataset is suitable for robot imitation learning, reinforcement learning, and cross-embodied robotics research.
数据集概述
- 数据集名称: demo_src_three_piece_assembly_task_D1_robot_IIWA_gripper_Robotiq85Gripper
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, mimicgen, lerobot, robotics, cross-embodiment, robosuite
数据集结构
- 总片段数 (Episodes): 500
- 总帧数 (Frames): 167,971
- 任务数量: 1
- 帧率 (fps): 20
- 数据文件大小: 100 MB (Parquet)
- 视频文件大小: 200 MB (MP4)
- 分块大小 (Chunk Size): 1000
- 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 - 数据划分: 全部作为训练集 (train: 0:500)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [7] | 7维动作指令 (dx, dy, dz, drx, dry, drz, gripper) |
observation.state |
float32 | [2] | 2维状态观测 (zero0, zero1) |
observation.eef |
float32 | [7] | 末端执行器位姿 (位置x,y,z + 四元数x,y,z,w) |
observation.gripper |
float32 | [6] | 夹爪关节位置 (gripper_qpos_0~5) |
observation.joint |
float32 | [7] | 机械臂关节位置 (joint_pos_0~6) |
observation.eef_gripper |
float32 | [13] | 末端执行器位姿与夹爪关节位置拼接 |
observation.joint_gripper |
float32 | [13] | 机械臂关节与夹爪关节位置拼接 |
observation.images.agentview |
video | [256,256,3] | 主视角RGB图像 (256x256, fps=20, AV1编码) |
observation.images.wrist |
video | [256,256,3] | 腕部视角RGB图像 (256x256, fps=20, AV1编码) |
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 |
关键信息
- 机器人类型: 交叉具身 (cross_embodiment)
- 代码版本: v3.0
- 机器人: IIWA (机械臂) + Robotiq85Gripper (夹爪)
- 任务: 三件组装任务 (three piece assembly task)
