eval_smolvla_sorting_action_expert_ft_121ep_step160000_A_OOD_v1

该数据集是一个机器人学数据集，使用LeRobot工具创建，专门用于机器人控制和学习任务。它包含3个episodes，总计4035帧，对应1个任务，帧率为30fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。特征包括：动作数据（action），包含6个浮点型关节位置（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）；观测状态（observation.state），同样包含6个浮点型关节位置；两个图像观测（observation.images.top和observation.images.wrist），均为视频格式，分辨率480x640，3通道（RGB），使用av1编解码器，无音频；以及时间戳、帧索引、episode索引、索引和任务索引等元数据。适用于机器人模拟、动作学习和视觉-动作映射等研究。This dataset is a robotics dataset created using the LeRobot tool, specifically designed for robot control and learning tasks. It contains 3 episodes, totaling 4035 frames, corresponding to 1 task, with a frame rate of 30fps. Data is stored in parquet format, with a total data file size of 100MB and a video file size of 200MB. Features include: action data (action), comprising 6 floating-point joint positions (e.g., shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position); observation state (observation.state), also with 6 floating-point joint positions; two image observations (observation.images.top and observation.images.wrist), both in video format with a resolution of 480x640, 3 channels (RGB), using the av1 codec, without audio; and metadata such as timestamps, frame index, episode index, index, and task index. It is suitable for research in robot simulation, action learning, and vision-action mapping.

原始信息汇总

数据集概述

• 数据集名称: eval_smolvla_sorting_action_expert_ft_121ep_step160000_A_OOD_v1
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 来源: 使用 LeRobot 创建

数据集规模

• 总片段数 (Total Episodes): 3
• 总帧数 (Total Frames): 4035
• 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
• 块大小 (Chunks Size): 1000

数据集结构

• 机器人类型: so_follower
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据格式: Parquet 文件 + MP4 视频文件
• 划分: 训练集包含全部 3 个片段 (train: "0:3")

特征说明

特征名称	数据类型	形状	字段说明
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：与 action 名称相同
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率 480x640，3 通道，AV1 编码
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率 480x640，3 通道，AV1 编码
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引