rollout_ball_cup_hil_round1_20260711_141925
收藏资源简介：
该数据集由LeRobot创建，是一个专门用于机器人学习任务的机器人操作数据集。它包含30个总集数和11252个总帧数，数据来源于so_follower类型机器人。数据集结构涵盖：动作数据，包括6个关节位置（肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；观察状态，与动作数据相同的6个关节位置；视频观察，通过顶部和腕部摄像头采集，分辨率为480x640，帧率为30fps，为彩色图像；以及元数据，如干预标志、时间戳、帧索引、集索引和任务索引。数据以Parquet格式存储，视频以MP4格式存储，适用于机器人控制、模仿学习等应用场景。
This dataset is created by LeRobot and is a robot operation dataset specifically designed for robot learning tasks. It contains a total of 30 episodes and 11252 frames, with data sourced from so_follower type robots. The dataset structure includes: action data, comprising 6 joint positions (shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position); observation states, which are the same 6 joint positions as the action data; video observations, captured by top and wrist cameras with a resolution of 480x640, a frame rate of 30fps, and in color; and metadata, such as intervention flags, timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet format, and videos are stored in MP4 format, making it suitable for applications like robot control and imitation learning.
数据集概述
- 数据集名称:
rollout_ball_cup_hil_round1_20260711_141925 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 使用 LeRobot 创建
数据集结构
基本统计信息
- 总帧数: 11,252 帧
- 总片段数 (Episodes): 30
- 总任务数: 1
- 帧率 (FPS): 30
- 数据类型文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: so_follower
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 动作指令，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
observation.state |
float32 | [6] | 机器人状态观测，与动作维度一致 |
observation.images.top |
视频 (video) | [480, 640, 3] | 顶部摄像头图像，分辨率480x640，RGB三通道，编码格式av1，帧率30fps |
observation.images.wrist |
视频 (video) | [480, 640, 3] | 腕部摄像头图像，分辨率480x640，RGB三通道，编码格式av1，帧率30fps |
intervention |
bool | [1] | 是否人工干预的标志 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 片段索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
数据分割
- 训练集: 包含全部30个片段（索引0到29）
数据存储路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 主页: 暂未提供
- 论文: 暂未提供
- BibTeX: 暂未提供
