rollout_act_so101_2_020000_20260629_180935

这是一个机器人学数据集，专门用于机械臂控制任务。数据集通过LeRobot工具创建，包含一个总时长为11545帧的单个训练集。数据特征包括6维浮点型动作向量（对应机械臂的肩部、肘部、腕部和夹爪位置）、6维浮点型观测状态向量（与动作相同）、OpenCV格式的视频图像（分辨率为480x640，3通道，帧率30fps），以及时间戳、帧索引、集索引、索引和任务索引等元数据。数据集采用Apache 2.0许可证，总数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower，适用于机器人控制模型的训练和评估。

This is a robotics dataset specifically designed for robotic arm control tasks. The dataset is created using the LeRobot tool and includes a single training set with a total duration of 11545 frames. Data features consist of a 6-dimensional floating-point action vector (corresponding to the shoulder, elbow, wrist, and gripper positions of the robotic arm), a 6-dimensional floating-point observation state vector (same as the action), OpenCV-format video images (resolution 480x640, 3 channels, frame rate 30fps), as well as metadata such as timestamps, frame indices, set indices, indices, and task indices. The dataset is licensed under Apache 2.0, with a total data file size of 100MB and a video file size of 200MB. The robot type is so_follower, and it is suitable for training and evaluating robotic control models.

原始信息汇总

数据集概述

• 名称: rollout_act_so101_2_020000_20260629_180935
• 许可证: Apache-2.0
• 任务类别: 机器人学 (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
• 总片段数 (Episodes): 1
• 总帧数 (Total Frames): 11545
• 总任务数 (Total Tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower

数据特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	包含 6 个自由度：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	状态观测，与 action 相同的 6 个自由度
observation.images.OpenCV	video	[480, 640, 3]	来自 OpenCV 摄像头的视频图像，分辨率 480x640，3 通道，编码为 AV1，帧率 30 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

数据拆分

• 训练集 (train): 0:1（全部数据用于训练）

文件结构

• 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