rollout_SortToy_20260527_143413_20260612_154446

该数据集由LeRobot创建，专注于机器人学领域，包含机器人动作和状态观测数据。数据集结构包括动作（action）、状态观测（observation.state）以及从前部和顶部视角拍摄的图像观测（observation.images.front和observation.images.top），图像分辨率为480x640，帧率为30fps，使用av1编码。数据以parquet格式存储，总共有1个episode、573帧和1个任务，涉及机器人类型为so_follower。数据集用于训练和评估机器人控制模型，支持多模态数据（如关节位置和视觉信息）的整合。This dataset is created by LeRobot and focuses on the field of robotics, containing robot actions and state observation data. The dataset structure includes actions (action), state observations (observation.state), and image observations captured from front and top perspectives (observation.images.front and observation.images.top), with an image resolution of 480x640, a frame rate of 30fps, and encoded using av1. Data is stored in parquet format, with a total of 1 episode, 573 frames, and 1 task, involving the robot type so_follower. The dataset is used for training and evaluating robot control models, supporting the integration of multimodal data (such as joint positions and visual information).

原始信息汇总

数据集概述

• 名称: rollout_SortToy_20260527_143413_20260612_154446
• 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 框架创建

数据集结构

• 总集数 (总episodes): 1
• 总帧数 (total_frames): 573
• 总任务数 (total_tasks): 1
• 帧率 (fps): 30
• 机器人类型: so_follower
• 代码库版本: v3.0

特征

特征名	数据类型	形状	说明
action	float32	[6]	6个关节的动作指令 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
observation.state	float32	[6]	6个关节的观测状态 (同上)
observation.images.front	video	[480, 640, 3]	前视摄像头视频流 (AV1编码, yuv420p, 30fps)
observation.images.top	video	[480, 640, 3]	顶部摄像头视频流 (AV1编码, yuv420p, 30fps)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	数据索引
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
• 数据文件大小: 约100 MB
• 视频文件大小: 约200 MB
• 数据分块大小 (chunks_size): 1000

数据划分

• 训练集 (train): 全部数据 (索引0:1)