Datasets:
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observation.state list | action list | timestamp float32 0 22.4 | frame_index int64 0 672 | episode_index int64 0 39 | index int64 0 20.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
黑色标签书本识别数据集 3：连续长黑条
本数据集由 AgileX Piper 机械臂采集，任务是找到贴有连续长黑条的书本，将其抓取后放入右侧黑色网格。它是三种黑色标签外观中的第 3 组 LeRobot v2.1 轨迹数据，适合用于书本外观识别、目标抓取与放置策略学习。
三组标签外观区别
| 数据集编号 | 标签外观 | 对应目录 |
|---|---|---|
| 1 | 小黑贴（小面积黑色贴纸） | recognize_book_label_color_1_lerobot_1_v2.1 |
| 2 | 间隔长黑条 | recognize_book_label_color_2_lerobot_v2.1 |
| 3 | 连续长黑条 | recognize_black_label_book_0911_lerobot_v2.1 |
当前目录为第 3 组：连续长黑条。
数据概况
- LeRobot 数据格式：v2.1
- 机器人：AgileX Piper 机械臂
- 训练任务：抓取黑色书脊书本并放入右侧黑色网格
- Episode 数：40
- 总帧数：20,361
- 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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