rollout_SortPaper_20260529_145930_20260612_152451
收藏资源简介：
该数据集是一个机器人控制数据集，使用LeRobot框架创建，专注于收集机器人动作和观察数据。它包含一个episode，总共有573帧，帧率为30fps。数据特征包括动作（action）和观察状态（observation.state），涉及六个关节位置：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos和gripper.pos。此外，还提供了两个图像观察：front和top视角的视频数据，每个视频的分辨率为480x640，使用AV1编解码器，帧率为30fps，无音频。数据集还包括时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为so_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，并指定了训练分割。
This dataset is a robot control dataset created using LeRobot, focusing on the collection of robot actions and observation data. It contains one episode with a total of 573 frames at a frame rate of 30fps. Data features include actions and observation states, involving six joint positions: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos. Additionally, it provides two image observations: video data from front and top perspectives, each with a resolution of 480x640, using the AV1 codec, a frame rate of 30fps, and no audio. The dataset also includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The robot type is so_follower, and the data is stored in Parquet file format, with a total data file size of 100MB and video file size of 200MB, along with a specified training split.
数据集概述
- 数据集名称: rollout_SortPaper_20260529_145930_20260612_152451
- 许可证: Apache-2.0
- 任务类别: 机器人技术 (robotics)
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 机器人类型: so_follower
- 数据类型: 数据存储在 Parquet 文件中，视频存储在 MP4 文件中
- 总片段数 (Episodes): 1
- 总帧数 (Frames): 573
- 总任务数 (Tasks): 1
- 数据文件大小 (Data Files): 100 MB
- 视频文件大小 (Video Files): 200 MB
- 数据切块大小 (Chunks Size): 1000
- 数据分割 (Splits): 训练集 (train) 占据全部数据 (0:1)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 包含肩关节、肘关节、腕关节、夹爪等6个动作位姿 |
| observation.state | float32 | [6] | 包含肩关节、肘关节、腕关节、夹爪等6个状态位姿 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率480x640，3通道，编码av1，帧率30 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道，编码av1，帧率30 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 总体索引 |
| task_index | int64 | [1] | 任务索引 |
