rollout_testing_robotic_vision_11_20260603_172227

这是一个使用LeRobot创建的机器人控制数据集，主要用于机器人学习任务。数据集包含一个完整的episode，总计2760帧数据，对应30fps的视频流。数据特征包括：6维动作向量（控制肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、6维状态观测向量（反映上述关节的实时位置）、来自前视摄像头的480x640分辨率RGB视频观测（编码为AV1格式，30fps）。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据量约300MB（数据100MB + 视频200MB）。机器人平台类型为so_follower。

This is a robot control dataset created using LeRobot, primarily designed for robot learning tasks. The dataset includes a complete episode with a total of 2760 frames, corresponding to a 30fps video stream. Data features consist of: a 6-dimensional action vector (controlling shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), a 6-dimensional state observation vector (reflecting real-time positions of the aforementioned joints), RGB video observations from a front-facing camera at 480x640 resolution (encoded in AV1 format, 30fps). Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, and task indices. Data is stored in parquet file format, while videos are stored in mp4 format, with a total data volume of approximately 300MB (100MB for data + 200MB for video). The robot platform type is so_follower.

原始信息汇总

• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 数据集创建工具: LeRobot (https://github.com/huggingface/lerobot)
• 可视化链接: https://huggingface.co/spaces/lerobot/visualize_dataset?path=seriintan/rollout_testing_robotic_vision_11_20260603_172227

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 30
• 机器人类型: so_follower
• 总片段数: 1
• 总帧数: 2760
• 总任务数: 1
• 数据块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 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
• 数据集划分: train 对应 0:1

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	包含肩部、肘部、腕部、夹爪位置 (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 action 维度名称相同
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率 480x640，3通道，编码为 av1，像素格式 yuv420p，非深度图，帧率 30fps，无音频
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