Pour_sep_17 倒水真机遥操 36 集(2026-09-17,同 StZaBL/Pour_sep_17)
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- Data/Pour_sep_17/README.md +8 -0
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Data/Pour_sep_17/README.md
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# Pour_sep_17 倒水 真机遥操数据(2026-09-17)
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- 机器人:Dexmate Vega-1P + 双 Sharpa 手;Quest 遥操,LeRobot v2.1,30 Hz
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- 回合:36,帧:23611;相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1)
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- 起手式:Yanghong 站姿(双臂 45/45/0/−90,腰 40.52/73.66/0.39°,头俯 10°),手指跟随操作员
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- 与 HF `StZaBL/Pour_sep_17` 同一份数据;其中 11 集(2,5,6,7,8,11,15,20,24,28,29)被 DP 训练方标为失败集剔除,
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余 25 集用于 sim→real DP 微调;首帧均值见 RL_correction_dp/exports/pour17_real_init_pose.json
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- `observation.state` / `action`:58 = 左臂 7 + 右臂 7 + 左手 22 + 右手 22(rad);`sidecar/` 为手关节原生速率 + 触觉
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| 3 |
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size 1148277
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Data/Pour_sep_17/data/chunk-000/episode_000034.parquet
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1399749
|
Data/Pour_sep_17/data/chunk-000/episode_000035.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1313827
|
Data/Pour_sep_17/meta/cameras.json
ADDED
|
@@ -0,0 +1,14 @@
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|
|
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|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
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"head": "320x240",
|
| 4 |
+
"kinect_2": "320x240",
|
| 5 |
+
"left_wrist": "320x240",
|
| 6 |
+
"right_wrist": "320x240"
|
| 7 |
+
},
|
| 8 |
+
"keys": [
|
| 9 |
+
"observation.images.head",
|
| 10 |
+
"observation.images.kinect_2",
|
| 11 |
+
"observation.images.left_wrist",
|
| 12 |
+
"observation.images.right_wrist"
|
| 13 |
+
]
|
| 14 |
+
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|
Data/Pour_sep_17/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,36 @@
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| 1 |
+
{"episode_index": 0, "tasks": ["把水壶里的水倒进杯子"], "length": 1430}
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{"episode_index": 19, "tasks": ["把水壶里的水倒进杯子"], "length": 908}
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
+
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|
| 26 |
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|
| 27 |
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|
| 28 |
+
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|
| 29 |
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|
| 30 |
+
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|
| 31 |
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{"episode_index": 30, "tasks": ["把水壶里的水倒进杯子"], "length": 718}
|
| 32 |
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|
| 33 |
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|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
+
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|
Data/Pour_sep_17/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Data/Pour_sep_17/meta/grades.jsonl
ADDED
|
@@ -0,0 +1,36 @@
|
|
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|
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|
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|
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|
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|
| 1 |
+
{"episode_index": 0, "grade": 1, "length": 1430}
|
| 2 |
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|
| 3 |
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|
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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{"episode_index": 7, "grade": 1, "length": 30}
|
| 9 |
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|
| 10 |
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{"episode_index": 9, "grade": 1, "length": 798}
|
| 11 |
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{"episode_index": 10, "grade": 1, "length": 878}
|
| 12 |
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{"episode_index": 11, "grade": 1, "length": 76}
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
+
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
+
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|
| 22 |
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|
| 23 |
+
{"episode_index": 22, "grade": 1, "length": 938}
|
| 24 |
+
{"episode_index": 23, "grade": 1, "length": 974}
|
| 25 |
+
{"episode_index": 24, "grade": 1, "length": 329}
|
| 26 |
+
{"episode_index": 25, "grade": 1, "length": 718}
|
| 27 |
+
{"episode_index": 26, "grade": 1, "length": 952}
|
| 28 |
+
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|
| 29 |
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{"episode_index": 28, "grade": 1, "length": 40}
|
| 30 |
+
{"episode_index": 29, "grade": 1, "length": 293}
|
| 31 |
+
{"episode_index": 30, "grade": 1, "length": 718}
|
| 32 |
+
{"episode_index": 31, "grade": 1, "length": 750}
|
| 33 |
+
{"episode_index": 32, "grade": 1, "length": 673}
|
| 34 |
+
{"episode_index": 33, "grade": 1, "length": 663}
|
| 35 |
+
{"episode_index": 34, "grade": 1, "length": 855}
|
| 36 |
+
{"episode_index": 35, "grade": 1, "length": 794}
|
Data/Pour_sep_17/meta/info.json
ADDED
|
@@ -0,0 +1,716 @@
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "vega_sharpa",
|
| 4 |
+
"total_episodes": 36,
|
| 5 |
+
"total_frames": 23611,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 144,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:36"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
58
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_joint_0.pos",
|
| 24 |
+
"left_arm_joint_1.pos",
|
| 25 |
+
"left_arm_joint_2.pos",
|
| 26 |
+
"left_arm_joint_3.pos",
|
| 27 |
+
"left_arm_joint_4.pos",
|
| 28 |
+
"left_arm_joint_5.pos",
|
| 29 |
+
"left_arm_joint_6.pos",
|
| 30 |
+
"right_arm_joint_0.pos",
|
| 31 |
+
"right_arm_joint_1.pos",
|
| 32 |
+
"right_arm_joint_2.pos",
|
| 33 |
+
"right_arm_joint_3.pos",
|
| 34 |
+
"right_arm_joint_4.pos",
|
| 35 |
+
"right_arm_joint_5.pos",
|
| 36 |
+
"right_arm_joint_6.pos",
|
| 37 |
+
"left_hand_joint_0.pos",
|
| 38 |
+
"left_hand_joint_1.pos",
|
| 39 |
+
"left_hand_joint_2.pos",
|
| 40 |
+
"left_hand_joint_3.pos",
|
| 41 |
+
"left_hand_joint_4.pos",
|
| 42 |
+
"left_hand_joint_5.pos",
|
| 43 |
+
"left_hand_joint_6.pos",
|
| 44 |
+
"left_hand_joint_7.pos",
|
| 45 |
+
"left_hand_joint_8.pos",
|
| 46 |
+
"left_hand_joint_9.pos",
|
| 47 |
+
"left_hand_joint_10.pos",
|
| 48 |
+
"left_hand_joint_11.pos",
|
| 49 |
+
"left_hand_joint_12.pos",
|
| 50 |
+
"left_hand_joint_13.pos",
|
| 51 |
+
"left_hand_joint_14.pos",
|
| 52 |
+
"left_hand_joint_15.pos",
|
| 53 |
+
"left_hand_joint_16.pos",
|
| 54 |
+
"left_hand_joint_17.pos",
|
| 55 |
+
"left_hand_joint_18.pos",
|
| 56 |
+
"left_hand_joint_19.pos",
|
| 57 |
+
"left_hand_joint_20.pos",
|
| 58 |
+
"left_hand_joint_21.pos",
|
| 59 |
+
"right_hand_joint_0.pos",
|
| 60 |
+
"right_hand_joint_1.pos",
|
| 61 |
+
"right_hand_joint_2.pos",
|
| 62 |
+
"right_hand_joint_3.pos",
|
| 63 |
+
"right_hand_joint_4.pos",
|
| 64 |
+
"right_hand_joint_5.pos",
|
| 65 |
+
"right_hand_joint_6.pos",
|
| 66 |
+
"right_hand_joint_7.pos",
|
| 67 |
+
"right_hand_joint_8.pos",
|
| 68 |
+
"right_hand_joint_9.pos",
|
| 69 |
+
"right_hand_joint_10.pos",
|
| 70 |
+
"right_hand_joint_11.pos",
|
| 71 |
+
"right_hand_joint_12.pos",
|
| 72 |
+
"right_hand_joint_13.pos",
|
| 73 |
+
"right_hand_joint_14.pos",
|
| 74 |
+
"right_hand_joint_15.pos",
|
| 75 |
+
"right_hand_joint_16.pos",
|
| 76 |
+
"right_hand_joint_17.pos",
|
| 77 |
+
"right_hand_joint_18.pos",
|
| 78 |
+
"right_hand_joint_19.pos",
|
| 79 |
+
"right_hand_joint_20.pos",
|
| 80 |
+
"right_hand_joint_21.pos"
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.state": {
|
| 84 |
+
"dtype": "float32",
|
| 85 |
+
"shape": [
|
| 86 |
+
58
|
| 87 |
+
],
|
| 88 |
+
"names": [
|
| 89 |
+
"left_arm_joint_0.pos",
|
| 90 |
+
"left_arm_joint_1.pos",
|
| 91 |
+
"left_arm_joint_2.pos",
|
| 92 |
+
"left_arm_joint_3.pos",
|
| 93 |
+
"left_arm_joint_4.pos",
|
| 94 |
+
"left_arm_joint_5.pos",
|
| 95 |
+
"left_arm_joint_6.pos",
|
| 96 |
+
"right_arm_joint_0.pos",
|
| 97 |
+
"right_arm_joint_1.pos",
|
| 98 |
+
"right_arm_joint_2.pos",
|
| 99 |
+
"right_arm_joint_3.pos",
|
| 100 |
+
"right_arm_joint_4.pos",
|
| 101 |
+
"right_arm_joint_5.pos",
|
| 102 |
+
"right_arm_joint_6.pos",
|
| 103 |
+
"left_hand_joint_0.pos",
|
| 104 |
+
"left_hand_joint_1.pos",
|
| 105 |
+
"left_hand_joint_2.pos",
|
| 106 |
+
"left_hand_joint_3.pos",
|
| 107 |
+
"left_hand_joint_4.pos",
|
| 108 |
+
"left_hand_joint_5.pos",
|
| 109 |
+
"left_hand_joint_6.pos",
|
| 110 |
+
"left_hand_joint_7.pos",
|
| 111 |
+
"left_hand_joint_8.pos",
|
| 112 |
+
"left_hand_joint_9.pos",
|
| 113 |
+
"left_hand_joint_10.pos",
|
| 114 |
+
"left_hand_joint_11.pos",
|
| 115 |
+
"left_hand_joint_12.pos",
|
| 116 |
+
"left_hand_joint_13.pos",
|
| 117 |
+
"left_hand_joint_14.pos",
|
| 118 |
+
"left_hand_joint_15.pos",
|
| 119 |
+
"left_hand_joint_16.pos",
|
| 120 |
+
"left_hand_joint_17.pos",
|
| 121 |
+
"left_hand_joint_18.pos",
|
| 122 |
+
"left_hand_joint_19.pos",
|
| 123 |
+
"left_hand_joint_20.pos",
|
| 124 |
+
"left_hand_joint_21.pos",
|
| 125 |
+
"right_hand_joint_0.pos",
|
| 126 |
+
"right_hand_joint_1.pos",
|
| 127 |
+
"right_hand_joint_2.pos",
|
| 128 |
+
"right_hand_joint_3.pos",
|
| 129 |
+
"right_hand_joint_4.pos",
|
| 130 |
+
"right_hand_joint_5.pos",
|
| 131 |
+
"right_hand_joint_6.pos",
|
| 132 |
+
"right_hand_joint_7.pos",
|
| 133 |
+
"right_hand_joint_8.pos",
|
| 134 |
+
"right_hand_joint_9.pos",
|
| 135 |
+
"right_hand_joint_10.pos",
|
| 136 |
+
"right_hand_joint_11.pos",
|
| 137 |
+
"right_hand_joint_12.pos",
|
| 138 |
+
"right_hand_joint_13.pos",
|
| 139 |
+
"right_hand_joint_14.pos",
|
| 140 |
+
"right_hand_joint_15.pos",
|
| 141 |
+
"right_hand_joint_16.pos",
|
| 142 |
+
"right_hand_joint_17.pos",
|
| 143 |
+
"right_hand_joint_18.pos",
|
| 144 |
+
"right_hand_joint_19.pos",
|
| 145 |
+
"right_hand_joint_20.pos",
|
| 146 |
+
"right_hand_joint_21.pos"
|
| 147 |
+
]
|
| 148 |
+
},
|
| 149 |
+
"observation.episode_flags": {
|
| 150 |
+
"dtype": "float32",
|
| 151 |
+
"shape": [
|
| 152 |
+
2
|
| 153 |
+
],
|
| 154 |
+
"names": [
|
| 155 |
+
"grade",
|
| 156 |
+
"discarded"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"observation.t_wall_us": {
|
| 160 |
+
"dtype": "int64",
|
| 161 |
+
"shape": [
|
| 162 |
+
8
|
| 163 |
+
],
|
| 164 |
+
"names": [
|
| 165 |
+
"sample",
|
| 166 |
+
"arm_cmd",
|
| 167 |
+
"arm_obs",
|
| 168 |
+
"hand_cmd_left",
|
| 169 |
+
"hand_cmd_right",
|
| 170 |
+
"hand_obs_left",
|
| 171 |
+
"hand_obs_right",
|
| 172 |
+
"operator"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"observation.torso_head_q": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
6
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"torso_j1",
|
| 182 |
+
"torso_j2",
|
| 183 |
+
"torso_j3",
|
| 184 |
+
"head_j1",
|
| 185 |
+
"head_j2",
|
| 186 |
+
"head_j3"
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"observation.all_q": {
|
| 190 |
+
"dtype": "float32",
|
| 191 |
+
"shape": [
|
| 192 |
+
24
|
| 193 |
+
],
|
| 194 |
+
"names": [
|
| 195 |
+
"L_arm_j1",
|
| 196 |
+
"L_arm_j2",
|
| 197 |
+
"L_arm_j3",
|
| 198 |
+
"L_arm_j4",
|
| 199 |
+
"L_arm_j5",
|
| 200 |
+
"L_arm_j6",
|
| 201 |
+
"L_arm_j7",
|
| 202 |
+
"R_arm_j1",
|
| 203 |
+
"R_arm_j2",
|
| 204 |
+
"R_arm_j3",
|
| 205 |
+
"R_arm_j4",
|
| 206 |
+
"R_arm_j5",
|
| 207 |
+
"R_arm_j6",
|
| 208 |
+
"R_arm_j7",
|
| 209 |
+
"torso_j1",
|
| 210 |
+
"torso_j2",
|
| 211 |
+
"torso_j3",
|
| 212 |
+
"head_j1",
|
| 213 |
+
"head_j2",
|
| 214 |
+
"head_j3",
|
| 215 |
+
"L_wheel_j1",
|
| 216 |
+
"R_wheel_j1",
|
| 217 |
+
"L_wheel_j2",
|
| 218 |
+
"R_wheel_j2"
|
| 219 |
+
]
|
| 220 |
+
},
|
| 221 |
+
"action_all_q": {
|
| 222 |
+
"dtype": "float32",
|
| 223 |
+
"shape": [
|
| 224 |
+
24
|
| 225 |
+
],
|
| 226 |
+
"names": [
|
| 227 |
+
"L_arm_j1",
|
| 228 |
+
"L_arm_j2",
|
| 229 |
+
"L_arm_j3",
|
| 230 |
+
"L_arm_j4",
|
| 231 |
+
"L_arm_j5",
|
| 232 |
+
"L_arm_j6",
|
| 233 |
+
"L_arm_j7",
|
| 234 |
+
"R_arm_j1",
|
| 235 |
+
"R_arm_j2",
|
| 236 |
+
"R_arm_j3",
|
| 237 |
+
"R_arm_j4",
|
| 238 |
+
"R_arm_j5",
|
| 239 |
+
"R_arm_j6",
|
| 240 |
+
"R_arm_j7",
|
| 241 |
+
"torso_j1",
|
| 242 |
+
"torso_j2",
|
| 243 |
+
"torso_j3",
|
| 244 |
+
"head_j1",
|
| 245 |
+
"head_j2",
|
| 246 |
+
"head_j3",
|
| 247 |
+
"L_wheel_j1",
|
| 248 |
+
"R_wheel_j1",
|
| 249 |
+
"L_wheel_j2",
|
| 250 |
+
"R_wheel_j2"
|
| 251 |
+
]
|
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+
}
|
| 715 |
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}
|
| 716 |
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|
Data/Pour_sep_17/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
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{"task_index": 0, "task": "把水壶里的水倒进杯子"}
|
Data/Pour_sep_17/sidecar/episode_000000/episode_000000_left.h5
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
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ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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Data/Pour_sep_17/sidecar/episode_000001/episode_000001_left.h5
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
Data/Pour_sep_17/sidecar/episode_000001/episode_000001_right.h5
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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ADDED
|
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|
|
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Data/Pour_sep_17/sidecar/episode_000002/episode_000002_right.h5
ADDED
|
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ADDED
|
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|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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