rollout_SortToy_20260527_143413_20260612_162803
收藏资源简介：
该数据集由LeRobot创建，专用于机器人任务。它包含机器人的动作数据（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）和观察状态数据（包括相同的关节位置）。此外，数据集提供了来自前部和顶部摄像头的图像观察，分辨率为480x640，3通道，录制帧率为30fps。数据以时间戳、帧索引、episode索引、索引和任务索引进行组织。总体规模为1个episode、585帧和1个任务，机器人类型为so_follower。数据以parquet和mp4格式存储，总数据大小约为300MB。
This dataset is created by LeRobot for robotics tasks. It includes robot actions and observation states, with actions covering shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. Observation states include the same joint positions. Additionally, the dataset provides image observations from front and top cameras, with a resolution of 480x640, 3 channels, recorded at 30fps. Data is organized by timestamp, frame index, episode index, index, and task index. In total, there is 1 episode, 585 frames, and 1 task, with the robot type being so_follower. Data is stored in parquet and mp4 formats, with a total data size of 300MB.
数据集概述
- 名称: rollout_SortToy_20260527_143413_20260612_162803
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 总集数 (total_episodes): 1
- 总帧数 (total_frames): 585
- 总任务数 (total_tasks): 1
- 帧率 (fps): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据块大小 (chunks_size): 1000
- 机器人类型: so_follower
- 数据划分: 训练集 (train) 包含全部数据（索引 0:1）
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作数据，包含肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置 |
| observation.state | float32 | [6] | 观测状态，与动作特征维度一致，包含肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率 480x640，编码 av1，30 fps |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率 480x640，编码 av1，30 fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集数索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据文件路径
- 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
