rollout_lingbot_test_20260702_115144
收藏资源简介：
该数据集是使用LeRobot创建的机器人技术数据集，专注于机器人动作和观察数据的收集。它包含一个episode，总共有1233帧数据，涉及一个任务。数据结构包括动作特征（如肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）、观察状态特征（与动作特征相同）、以及来自左侧手腕摄像头（cam_left_wrist）和高位摄像头（cam_high）的图像观察，这些图像以视频形式存储，分辨率为480x640像素，每秒30帧，使用av1编码。此外，还包括时间戳、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，数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集适用于机器人控制、行为模仿或强化学习等应用场景。
This dataset is a robotics dataset created using LeRobot, focusing on the collection of robot action and observation data. It contains one episode with a total of 1233 frames, involving one task. The data structure includes action features (such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position), observation state features (same as action features), and image observations from a left wrist camera (cam_left_wrist) and a high camera (cam_high), which are stored as videos with a resolution of 480x640 pixels, 30 frames per second, and encoded using av1. Additionally, metadata such as timestamps, frame index, episode index, index, and task index are included. The robot type is omx_follower, and the data is stored in parquet file format, with a total data file size of 100MB and a video file size of 200MB. The dataset is suitable for applications such as robot control, behavior imitation, or reinforcement learning.
数据集总览
- 名称:
maximellerbach/rollout_lingbot_test_20260702_115144 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 机器人类型:
omx_follower - 帧率 (FPS): 30
- 总片段数 (Episodes): 1
- 总帧数 (Frames): 1233
- 总任务数 (Tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据集划分: 训练集 (train) 涵盖所有数据 (0:1)
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作：肩关节旋转、肩关节升降、肘关节弯曲、腕关节弯曲、腕关节旋转、夹爪位置 |
observation.state |
float32 | [6] | 机器人观测状态 (同上) |
observation.images.cam_left_wrist |
video | [480, 640, 3] | 左腕相机视频，AV1编码，30 FPS，640x480分辨率 |
observation.images.cam_high |
video | [480, 640, 3] | 高位相机视频，AV1编码，30 FPS，640x480分辨率 |
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 |
数据文件
- 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 - 块大小 (chunks_size): 1000
引用信息
- 主页: 暂无
- 论文: 暂无
- BibTeX: 暂无
