novastar112/pusht_96_int1_visual_v2

该数据集是一个名为pusht_96_int1_visual_v2的视觉轨迹数据集，专注于机器人强化学习任务，特别是PushT环境。它包含由1Hz PPO（近端策略优化）PushT求解器生成的成功轨迹，使用int1动作编码。轨迹数据包括渲染图像（存储在history[*].image、image_prev和image_next中），图像分辨率为96x96像素，JPEG质量为90。每个轨迹仅包含成功片段，且限制在30个环境步长内。视觉标记模式为next_action_target，在移动过渡中，渲染帧中的红色十字标记表示该过渡的命令移动目标。推送器在512空间中以半径11.0渲染，但物理碰撞仍使用环境默认半径。历史图像约定确保history[*].image_prev等于history[*].image，而非终端步的history[i].image_next等于history[i+1].image。终端标记约定在终止stop步和前一image_next中，红色十字绘制在最终蓝色推送器位置上方。数据分割包括50万条训练记录和200条测试记录，格式为gzip压缩的JSONL，训练和测试的初始状态通过init_state_hash过滤以确保不重叠。动作中的坐标使用PushT 512x512物理坐标，并四舍五入到一位小数。This dataset, named pusht_96_int1_visual_v2, is a visual trajectory dataset for robotic reinforcement learning, specifically in the PushT environment. It contains successful trajectories generated by a 1Hz PPO (Proximal Policy Optimization) PushT solver with action codec int1. The trajectories include rendered images (stored in history[*].image, image_prev, and image_next) at 96x96 resolution with JPEG quality 90. Each episode is success-only and capped at 30 environment steps. The visual marker mode is next_action_target, where in each move transition, a red cross in the rendered frame marks the commanded move target. The pusher is rendered with a radius of 11.0 in 512-space, while physics uses the environments collision radius. The history image convention ensures that history[*].image_prev equals history[*].image, and for non-terminal steps, history[i].image_next equals history[i+1].image. The terminal marker convention draws a red cross on the final blue pusher position in the terminal stop step and the preceding image_next. Splits consist of 500,000 training records and 200 test records in gzip-compressed JSONL format, with train and test initial states filtered to be disjoint via init_state_hash. Coordinates in move actions use PushT 512x512 physical coordinates rounded to one decimal place.