rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_r_yellow_sync_0728_1426_20260728_142859
收藏资源简介：
该数据集是通过LeRobot创建的机器人操作数据集，专门用于机器人技术任务。数据集包含20个回合，共4691帧，每帧以30帧每秒的速率采集。数据特征包括6维浮点型动作和观测状态（涉及肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置），以及来自顶部和手腕摄像头的视频图像（分辨率为480x640，3通道）。此外，数据集还包含干预标志、时间戳、帧索引、回合索引、索引和任务索引等元数据。数据以Parquet格式存储，总大小为100MB，视频文件大小为200MB，适用于训练和评估机器人控制模型。机器人类型为so_follower。
This dataset is a robot operation dataset created through LeRobot, specifically designed for robotics tasks. It contains 20 episodes with a total of 4691 frames, each collected at a rate of 30 frames per second. The data features include 6-dimensional floating-point actions and observation states (involving shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), as well as video images from top and wrist cameras (with a resolution of 480x640, 3 channels). Additionally, the dataset includes metadata such as intervention flags, timestamps, frame indices, episode indices, indices, and task indices. The data is stored in Parquet format, with a total size of 100MB and video file size of 200MB, suitable for training and evaluating robot control models. The robot type is so_follower.
数据集概述
- 名称: rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_r_yellow_sync_0728_1426_20260728_142859
- 创建工具: 使用 LeRobot 框架创建
- 许可证: Apache 2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 总片段数 (Episodes): 20
- 总帧数: 4691
- 总任务数: 1
- 帧率 (FPS): 30
- 机器人类型: so_follower
- 数据分割: 仅包含训练集，训练集包含全部 20 个片段 (0:20)
特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作 (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 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos) |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头图像 (高度480px, 宽度640px, 3通道), 编码为 AV1, 帧率30fps |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头图像 (高度480px, 宽度640px, 3通道), 编码为 AV1, 帧率30fps |
| intervention | bool | [1] | 是否有人工干预 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据文件
- 数据文件路径格式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径格式:
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
- 代码库版本: v3.0
引用
- 论文: 暂无 (More Information Needed)
- 引用格式: 暂无 (More Information Needed)
