rollout_SortToy_20260527_143413_20260612_160411

这是一个使用LeRobot框架创建的机器人操作数据集，专门针对SortToy任务设计。数据集包含机器人执行排序玩具任务时的动作和观测数据：动作数据为6维浮点型向量，对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置；状态观测也是6维浮点型，表示与动作相同的关节位置；图像观测来自前视和顶部摄像头，分辨率为480x640，RGB三通道，以30fps视频格式记录。此外，数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。使用so_follower机器人类型，总共包含1个任务、1个episode和573帧数据，数据以parquet格式存储，视频采用av1编码。This is a robot manipulation dataset created using the LeRobot framework, specifically designed for the SortToy task. The dataset includes action and observation data from the robot performing a toy sorting task: the action data consists of a 6-dimensional floating-point vector corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position; the state observation is also a 6-dimensional floating-point vector representing the same joint positions as the actions; image observations come from front-view and top-view cameras with a resolution of 480x640, RGB three channels, recorded in 30fps video format. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. It uses the so_follower robot type, containing a total of 1 task, 1 episode, and 573 frames of data, stored in parquet format with videos encoded in av1.

原始信息汇总

数据集概述

• 名称: rollout_SortToy_20260527_143413_20260612_160411
• 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

• 数据格式: Parquet 文件，视频文件为 MP4
• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 帧率 (FPS): 30
• 总片段数: 1
• 总帧数: 573
• 总任务数: 1
• 机器人类型: so_follower
• 数据集划分:
  • 训练集 (train): 片段索引 0

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[6]	动作指令，包含6个关节位置 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
observation.state	float32	[6]	机器人状态，与动作指令相同维度的6个关节位置
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率480x640，3通道，帧率30，编解码器av1
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，3通道，帧率30，编解码器av1
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

数据规模

• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

其他信息

• 可视化地址: Visualize this dataset