rollout_lingbot_test_20260702_142343
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot创建，专门用于机器人控制和学习任务。数据集包含机器人的动作和观测数据：动作数据包括6个关节（肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转、夹爪）的位置信息；观测数据包括状态观测（同样为6个关节位置）和图像观测，图像来自两个摄像头——左侧手腕摄像头（cam_left_wrist）和高位摄像头（cam_high），分辨率均为480x640，3通道，帧率为30fps，视频编码为av1。数据集还包括时间戳、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，视频以mp4格式存储。数据集总共有2个回合、1218帧、1个任务，数据文件大小为100MB，视频文件大小为200MB。机器人类型为omx_follower。数据集适用于训练和评估机器人控制模型，特别是在模仿学习或强化学习场景中。
This is a robotics dataset developed using LeRobot, specifically designed for robotic control and learning tasks. The dataset contains robotic action and observation data: the action data includes position information of 6 joints, namely shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper. The observation data covers state observations (positions of the 6 same joints) and image observations from two cameras: the left wrist camera (cam_left_wrist) and the high-mounted camera (cam_high). Both cameras have a resolution of 480x640, 3 channels, a frame rate of 30 fps, and adopt av1 video encoding. The dataset also includes metadata such as timestamps, frame indices, episode indices, indexes and task indices. The structured data is stored in Parquet format, while the video files are saved in MP4 format. In total, this dataset has 2 episodes, 1218 frames and 1 task, with the data file size of 100 MB and the video file size of 200 MB. The robotic platform is omx_follower. This dataset is suitable for training and evaluating robotic control models, especially in imitation learning or reinforcement learning scenarios.
数据集概述
- 名称:
maximellerbach/rollout_lingbot_test_20260702_142343 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot 框架创建
数据集结构
- 基础版本: v3.0
- 帧率: 30 FPS
- 总计episode数: 2
- 总帧数: 1218
- 总任务数: 1
- 数据集划分: 仅包含训练集 (train: 0:2)
- 机器人类型: omx_follower
特征字段
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作指令，包括肩部、肘部、腕部及夹爪的6个位置参数 |
| observation.state | float32 | [6] | 机器人观测状态，与动作具有相同的6个自由度参数 |
| observation.images.cam_left_wrist | video | [480, 640, 3] | 左侧手腕相机视频流，分辨率480x640，3通道彩色 |
| observation.images.cam_high | video | [480, 640, 3] | 高位相机视频流，分辨率480x640，3通道彩色 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | episode索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
视频与数据文件
- 视频编码: av1，像素格式 yuv420p，帧率30 FPS
- 数据文件大小: 约100 MB (parquet格式)
- 视频文件大小: 约200 MB (mp4格式)
- 文件组织: 数据文件按
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet结构存放，视频文件按videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4结构存放
引用
- BibTeX: 暂缺
