rollout_pick_n_place_dagger_r11

该数据集由LeRobot创建，专用于机器人任务，特别是拾取放置操作。数据集包含多个特征：动作（action）由6个浮点数值组成，对应机器人关节位置（包括肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；观测状态（observation.state）同样包含6个浮点数值，表示机器人状态；观测图像包括前视图像（observation.images.front）和标注图像（observation.images.annotated），均为视频格式，分辨率为480x640，3通道，帧率30fps，使用AV1编码。此外，数据集还包括时间戳、帧索引、剧集索引、索引和任务索引等元数据。数据以Parquet文件格式存储，总剧集数为1，总帧数为3351，总任务数为1，数据文件大小约100MB，视频文件大小约200MB。机器人类型为so_follower，数据集仅包含训练分割。

This dataset is created by LeRobot for robotic tasks, specifically pick-and-place operations. It includes multiple features: action consists of 6 floating-point values corresponding to robot joint positions (e.g., shoulder pan, shoulder lift, elbow bend, wrist bend, wrist rotate, and gripper position); observation.state also contains 6 floating-point values representing the robot state; observation images include front-view images (observation.images.front) and annotated images (observation.images.annotated), both in video format with a resolution of 480x640, 3 channels, 30fps frame rate, and AV1 encoding. Additionally, metadata such as timestamp, frame index, episode index, index, and task index are included. The data is stored in Parquet file format, with a total of 1 episode, 3351 frames, and 1 task. The data file size is approximately 100MB, and the video file size is about 200MB. The robot type is so_follower, and the dataset only contains a training split.

原始信息汇总

数据集总览

• 数据集名称: rollout_pick_n_place_dagger_r11
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 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
• 总集数 (Episodes): 1
• 总帧数: 3351
• 总任务数: 1
• 数据分块大小 (chunks_size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower
• 数据划分: 训练集 (train): 0:1

特征 (Features)

特征名	数据类型	形状	描述
action	float32	[6]	6维动作，包含肩部、肘部、腕部及夹爪的位置控制
observation.state	float32	[6]	6维状态观测，包含肩部、肘部、腕部及夹爪的位置信息
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率480x640，3通道，AV1编码，30 FPS
observation.images.annotated	video	[480, 640, 3]	带标注的前置摄像头视频，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]	全局索引
task_index	int64	[1]	任务索引

文件路径

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