rollout_hil_pi05_bs16_5k_10Dag_20260608_174322
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学领域，用于记录和模拟机器人交互任务。数据集包含机器人动作和状态观测数据，具体包括机械臂的六个关节位置（如肩部平移、肩部升降、肘部弯曲等）以及夹爪位置。观测数据还包括来自夹爪摄像头和前方摄像头的视频流，分辨率为480x640，帧率为30fps，使用AV1编解码器。此外，数据集提供干预信号、时间戳、帧索引、回合索引和任务索引等元数据。数据以parquet格式存储，总共有2个回合、1995帧和1个任务，数据文件总大小为100MB，视频文件总大小为200MB。机器人类型为so_follower，适用于训练和评估机器人控制算法。
This dataset is created by LeRobot and focuses on the field of robotics, designed for recording and simulating robotic interaction tasks. It includes robot action and state observation data, specifically the six joint positions of the robotic arm (such as shoulder translation, shoulder lifting, elbow bending, etc.) and gripper positions. Observation data also includes video streams from the gripper camera and front camera, with a resolution of 480x640, a frame rate of 30fps, and using the AV1 codec. Additionally, the dataset provides metadata such as intervention signals, timestamps, frame indices, episode indices, and task indices. Data is stored in parquet format, with a total of 2 episodes, 1995 frames, and 1 task. The total size of data files is 100MB, and video files total 200MB. The robot type is so_follower, suitable for training and evaluating robot control algorithms.
数据集概述
- 名称: rollout_hil_pi05_bs16_5k_10Dag_20260608_174322
- 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
- 总集数: 2
- 总帧数: 1995
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 机器人类型:
so_follower - 数据划分: 训练集（
train）包含第0到第1集（共2集）
特征
| 特征字段 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 6个关节动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | [6] | 6个关节状态（同动作维度） |
observation.images.gripper |
video | [480, 640, 3] | 夹爪摄像头视频，分辨率为480x640，3通道，AV1编码，30 FPS |
observation.images.front |
video | [480, 640, 3] | 前置摄像头视频，分辨率为480x640，3通道，AV1编码，30 FPS |
intervention |
bool | [1] | 是否有人类干预 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 集索引 |
index |
int64 | [1] | 索引 |
task_index |
int64 | [1] | 任务索引 |
数据文件格式
- 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 - 块大小 (chunks_size): 1000
