rollout_diffusion_mir1_v2_ddim5_20260714_115031

该数据集由LeRobot创建，专注于机器人领域，旨在记录机器人的动作和观察状态。它包含6维动作向量，分别对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹持器位置，以及相同的6维观察状态向量。数据集还提供了两个摄像头视角的视频数据：顶部摄像头和腕部摄像头，视频分辨率为480x640，3通道，帧率为30fps。此外，数据集包括时间戳、帧索引、回合索引、索引和任务索引等元数据。数据集总共有1个回合，1049帧，1个任务，数据文件大小约100MB，视频文件大小约200MB，机器人类型为so_follower。This dataset is created by LeRobot and focuses on the robotics domain, designed to record robot actions and observation states. It includes a 6-dimensional action vector corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position, along with an identical 6-dimensional observation state vector. The dataset also provides video data from two camera perspectives: a top camera and a wrist camera, with a resolution of 480x640, 3 channels, and a frame rate of 30fps. Additionally, metadata such as timestamps, frame indices, episode indices, indices, and task indices are included. The dataset consists of 1 episode, 1049 frames, 1 task, with data file size approximately 100MB and video file size approximately 200MB, using a robot type of so_follower.

原始信息汇总

数据集概述

• 任务类别：机器人学（robotics）
• 许可证：Apache-2.0
• 创建工具：使用 LeRobot 创建

数据集结构

• 代码库版本：v3.0
• 帧率：30 FPS
• 机器人类型：so_follower
• 总集数（episodes）：1
• 总帧数：1049
• 总任务数：1
• 数据文件大小：约 100 MB
• 视频文件大小：约 200 MB

特征

特征名	数据类型	形状	描述
action	float32	[6]	包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	与 action 相同的6个关节位置状态
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率 480x640，3通道，AV1编码，30 FPS
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率 480x640，3通道，AV1编码，30 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	通用索引
task_index	int64	[1]	任务索引

数据拆分

• 训练集：索引 0 到 1

数据文件路径

• 数据文件：data/*/*.parquet
• 视频文件：videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

引用信息

• 引用：暂未提供（[More Information Needed]）