rollout_write2-20260715_182618_20260715_182637

该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含6自由度机械臂的动作和状态数据，动作和状态均包括肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置。观测数据包括来自手腕摄像头（分辨率480x640，3通道）和顶部摄像头（分辨率480x848，3通道）的视频，帧率为30fps。数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。总共有2个episodes、1465帧和1个任务，数据以parquet格式存储，总数据大小为100MB，视频文件大小为200MB。数据集适用于机器人控制、强化学习或视觉-动作映射等任务。This dataset is a robotics dataset created using the LeRobot tool. It contains action and state data for a 6-degree-of-freedom robotic arm, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. Observation data includes videos from a wrist camera (resolution 480x640, 3 channels) and a top camera (resolution 480x848, 3 channels) with a frame rate of 30fps. The dataset also includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. In total, there are 2 episodes, 1465 frames, and 1 task. The data is stored in parquet format, with a total data size of 100MB and video file size of 200MB. The dataset is suitable for tasks such as robot control, reinforcement learning, or vision-action mapping.

原始信息汇总

数据集概览

• 数据集名称: rollout_write2-20260715_182618_20260715_182637
• 创建者: yen-0
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 总片段数 (Episodes): 2
• 总帧数 (Frames): 1465
• 总任务数 (Tasks): 1
• 数据文件格式: Parquet (.parquet)
• 视频文件格式: MP4 (.mp4)
• 帧率 (FPS): 30
• 数据集大小: 数据文件约100 MB，视频文件约200 MB
• 机器人类型: so_follower
• 数据划分: 训练集 (train) 包含全部2个片段

数据特征

特征名称	数据类型	形状	说明
action	float32	(6,)	机器人动作指令，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper）
observation.state	float32	(6,)	机器人状态观测，与动作维度一致，包含6个关节位置
observation.images.wrist	video (av1编码)	(480, 640, 3)	腕部摄像头视频，分辨率480×640，RGB三通道
observation.images.top	video (av1编码)	(480, 848, 3)	顶部摄像头视频，分辨率480×848，RGB三通道
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

数据存储结构

• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 分块大小 (chunks_size): 1000
• 代码库版本 (codebase_version): v3.0