rollout_red_cube_o1_dagger_v1_main_clean
收藏资源简介：
这是一个由LeRobot创建的机器人学数据集，专门设计用于机器人控制和模仿学习任务。数据集包含5个总片段和1497个总帧，以每秒30帧的速率采集。主要特征涵盖机器人的动作数据（例如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、观察状态（包括机器人关节位置），以及来自手腕和基座摄像头的视频观察（分辨率为480x640，3个通道，非深度图）。此外，数据集还包括干预标志、时间戳、帧索引、片段索引、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，视频文件为MP4格式，总数据大小约为100MB，视频文件大小约为200MB。该数据集适用于训练和评估机器人行为模型。
This is a robotics dataset created using LeRobot, specifically designed for robot control and imitation learning tasks. The dataset contains a total of 5 episodes and 1497 frames, collected at a rate of 30 frames per second. Key features include robot action data (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), observation states (including robot joint positions), and video observations from wrist and base cameras (with a resolution of 480x640, 3 channels, non-depth maps). Additionally, the dataset includes metadata such as intervention flags, timestamps, frame indices, episode indices, and task indices. The robot type is so_follower, data is stored in Parquet file format, video files are in MP4 format, with a total data size of approximately 100MB and video file size around 200MB. The dataset is suitable for training and evaluating robot behavior models.
数据集概览
- 名称: rollout_red_cube_o1_dagger_v1_main_clean
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 数据集创建工具: LeRobot
数据集结构
- 数据格式: Parquet 文件，位于
data/*/*.parquet - 帧率 (FPS): 30
- 机器人类型: so_follower
- 总集数 (Episodes): 5
- 总帧数: 1497
- 总任务数: 1
- 数据分割: 所有数据 (0:5) 用于训练 (train)
特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 包含6个机器人关节位置 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos) |
observation.state |
float32 | [6] | 观察到的机器人状态，与action具有相同的6个关节位置名称 |
observation.images.wrist |
video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，3通道，AV1编码 |
observation.images.base |
video | [480, 640, 3] | 基座摄像头视频，分辨率480x640，3通道，AV1编码 |
intervention |
bool | [1] | 指示是否为人工干预 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 集索引 |
index |
int64 | [1] | 索引 |
task_index |
int64 | [1] | 任务索引 |
数据文件
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据文件路径模式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径模式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 分块大小 (Chunks Size): 1000
引用
- BibTeX: 暂无提供信息
