rollout_pi05_manip3_cam12_seed1000_100000_eclipse_260626_20260626_204833
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人学数据集，专门用于机器人操作任务。它包含一个总时长为171帧的单个episode，帧率为30fps。数据特征包括动作（由6个浮点值表示，对应机器人的关节位置，如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）和观察（包括机器人状态，同样由6个关节位置组成，以及两个摄像头camera1和camera2的图像数据，每个摄像头提供480x640分辨率的RGB视频）。数据集还包含干预标志、时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为omx_follower，数据集以Parquet格式存储，并包含视频文件，总数据大小为100MB，视频大小为200MB。该数据集适用于训练和评估机器人控制模型，特别是在多模态感知和动作生成任务中。
This dataset is a robotics dataset created using LeRobot, specifically designed for robot manipulation tasks. It contains a single episode with a total duration of 171 frames at a frame rate of 30fps. The data features include actions (represented by 6 floating-point values corresponding to robot joint positions, such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position) and observations (including robot state, also composed of 6 joint positions, and image data from two cameras, camera1 and camera2, each providing RGB video at 480x640 resolution). The dataset also includes metadata such as intervention flags, timestamps, frame index, episode index, index, and task index. The robot type is omx_follower, and the dataset is stored in Parquet format with video files, with a total data size of 100MB and a video size of 200MB. It is suitable for training and evaluating robot control models, particularly in multimodal perception and action generation tasks.
数据集概述
- 数据集名称: rollout_pi05_manip3_cam12_seed1000_100000_eclipse_260626_20260626_204833
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集来源与创建
- 该数据集使用 LeRobot 框架创建。
数据集结构
- 代码库版本: v3.0
- 帧率: 30 FPS
- 机器人类型: omx_follower
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 包含6个机器人关节位置：shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper |
observation.state |
float32 | (6,) | 观测状态，与动作特征维度一致，同样包含6个关节位置 |
observation.images.camera1 |
video | (480, 640, 3) | 相机1的视频图像，分辨率480x640，3个通道，编码格式为av1，帧率30 FPS |
observation.images.camera2 |
video | (480, 640, 3) | 相机2的视频图像，分辨率480x640，3个通道，编码格式为av1，帧率30 FPS |
intervention |
bool | (1,) | 干预标志 |
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 |
数据规模
- 总片段数: 1
- 总帧数: 171
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据文件与视频文件路径
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
数据集划分
- 训练集: 第0到第1个样本 (train: "0:1")
