Datasets:
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observation.state list | action list | timestamp float32 0 27.7 | frame_index int64 0 831 | episode_index int64 0 79 | index int64 0 42.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
红色书本抓取数据集
本数据集由 AgileX Piper 机械臂采集，任务是识别并取出红色书本。每个 episode 对应一次取书过程，可用于基于视觉的颜色识别、抓取和模仿学习。
数据概况
- LeRobot 数据格式：v2.1
- 机器人：AgileX Piper 机械臂
- 训练任务：取出红色书本
- Episode 数：80
- 总帧数：42,643
- 采样频率：30 FPS
- 视频数：160（每个 episode 2 路）
- 数据划分：
train，覆盖全部 80 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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