Datasets:
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observation.state list | action list | timestamp float32 0 30.4 | frame_index int64 0 911 | episode_index int64 0 39 | index int64 0 24.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
黑色书本颜色识别数据集
本数据集由 AgileX Piper 机械臂采集，任务是识别黑色书本，将其抓取后放入右侧黑色网格。数据可用于基于颜色和外观的目标识别、抓取及放置策略学习。
数据概况
- LeRobot 数据格式：v2.1
- 机器人：AgileX Piper 机械臂
- 训练任务：抓取黑色书本并放入右侧黑色网格
- Episode 数：40
- 总帧数：24,320
- 采样频率：30 FPS
- 视频数：80（每个 episode 2 路）
- 数据划分：
train，覆盖全部 40 个 episode
数据内容
data/chunk-000/*.parquet：逐帧轨迹数据videos/chunk-000/observation.images.top_head/：俯视相机视频videos/chunk-000/observation.images.hand_right/：右手相机视频meta/：数据集信息、任务、episode 列表和统计量norm_stats.json：归一化统计信息（如目录中存在）
两路视频分辨率均为 480×640×3。observation.state 和 action 均为 7 维 Piper 右臂关节数据。
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