Datasets:
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action list | observation.state list | timestamp float32 0 24 ⌀ | frame_index int64 0 720 ⌀ | episode_index int64 0 79 ⌀ | index int64 0 45.4k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
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Check out the documentation for more information.
数据集：1arm_2cam_banana_pick_v1_20260514
- 创建日期：2026-05-14
- 任务类型：banana_pick
- 任务描述：1臂2相机抓取香蕉放到盘子里
- 数据版本：v1
- 数据来源：实机采集（正常轨迹录制）
- 关联训练中间模型：暂无
- 关联可用模型：暂无
数据集详情
- 机器人类型：so_follower
- 相机数量：2（top, wrist）
- 总 episode 数：80
- 总帧数：45358
- FPS：30
- 图像分辨率：480x640
- 视频编码：av1
- 动作维度：6（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper）
Episode 分布
所有数据均为正常轨迹录制，香蕉初始位置按以下方式分布在盘子周围：
一、香蕉横放（episode 0~39）
| Episode 范围 | 香蕉初始位置 |
|---|---|
| 0 ~ 9 | 盘子左侧 |
| 10 ~ 19 | 盘子右侧 |
| 20 ~ 29 | 盘子下侧 |
| 30 ~ 39 | 盘子上侧 |
二、香蕉竖放（episode 40~79）
| Episode 范围 | 香蕉初始位置 |
|---|---|
| 40 ~ 49 | 盘子左侧 |
| 50 ~ 59 | 盘子右侧 |
| 60 ~ 69 | 盘子下侧 |
| 70 ~ 79 | 盘子上侧 |
环境信息
env/ 目录包含录制时的环境配置：
arm/：机械臂配置（leader/follower）camera/：相机配置（ISP 参数、对齐校准、环境快照）
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