rollout_eval_act_2026-05-29_shakeitup_dragonfly_0_1kHz_small_checkpoint_10_000_20260601_134023
收藏资源简介：
该数据集是一个用于机器人技术的数据集，由LeRobot工具创建。它包含机器人执行任务时的动作、观测状态和多模态图像数据，如顶部摄像头图像、腕部摄像头图像和左触觉频谱图。数据以parquet格式存储，视频编码为av1，帧率为30fps。数据集涉及机器人类型so101_follower_dragontactile，总共有1个episode、665帧和1个任务，适用于机器人控制、感知和强化学习研究。数据文件大小为100MB，视频文件大小为200MB。
This dataset is designed for robotics and created by the LeRobot tool. It includes actions, observation states, and multimodal image data during robot task execution, such as top camera images, wrist camera images, and left tactile spectrograms. Data is stored in parquet format, with videos encoded in av1 at a frame rate of 30fps. The dataset involves the robot type so101_follower_dragontactile, totaling 1 episode, 665 frames, and 1 task, suitable for research in robot control, perception, and reinforcement learning. The data file size is 100MB, and the video file size is 200MB.
数据集结构
- 代码库版本: v3.0
- 帧率 (fps): 30
- 机器人类型: so101_follower_dragontactile
- 总片段数 (episodes): 1
- 总帧数 (frames): 665
- 总任务数 (tasks): 1
- 数据分块大小: 1000
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据路径模式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径模式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据划分: 训练集 (train) 包含全部数据 (索引 0:1)
特征字段
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机械臂动作指令，包含6个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
observation.state |
float32 | [6] | 机械臂状态观测，6个关节位置 (与action维度对应) |
observation.images.top |
video | [480, 640, 3] | 顶部相机视频，分辨率 480x640，彩色 (RGB)，AV1编码，30fps |
observation.images.wrist |
video | [480, 640, 3] | 腕部相机视频，分辨率 480x640，彩色 (RGB)，AV1编码，30fps |
observation.images.left_tactile_spectrogram |
video | [224, 224, 3] | 左侧触觉谱图视频，分辨率 224x224，彩色 (RGB)，AV1编码，30fps |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 片段索引 |
index |
int64 | [1] | 数据索引 |
task_index |
int64 | [1] | 任务索引 |
引用信息
该数据集的引用信息目前暂缺（标记为 [More Information Needed]）。
