rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_res_blue_sync_0728_1409_20260728_141211
收藏资源简介：
该数据集由LeRobot创建，专为机器人学任务设计。它包含机器人执行动作时的多模态观测数据：具体特征包括6维关节位置的动作和状态观测，如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置；同时提供来自顶部和手腕摄像头的RGB视频观测，分辨率为480x640，帧率为30fps。此外，数据集还包括干预信号、时间戳、帧索引、回合索引等元数据。数据集总共有20个回合，3633帧，涵盖1个任务，数据以parquet格式存储，视频以mp4格式存储。机器人类型为so_follower，适用于训练和评估机器人控制模型。
This dataset was developed by LeRobot and is tailored for robotics-related tasks. It encompasses multimodal observation data collected when robots perform actions: specifically, 6-dimensional joint position-based action and state observations, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. It also provides RGB video observations captured by the top-mounted and wrist-mounted cameras, with a resolution of 480×640 and a frame rate of 30 fps. In addition, the dataset includes various metadata such as intervention signals, timestamps, frame indices, and episode indices. In total, the dataset consists of 20 episodes and 3633 frames, covering one single task. The tabular data is stored in Parquet format, while the video files are stored in MP4 format. The target robot platform is so_follower, and this dataset is applicable for training and evaluating robotic control models.
数据集概述
- 数据集名称:
rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_res_blue_sync_0728_1409_20260728_141211 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 创建工具: 使用 LeRobot 创建
数据集规模
- 总片段数: 20
- 总帧数: 3633
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据划分: 训练集 (train) 包含全部 20 个片段
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 机器人关节动作指令，包含肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
observation.state |
float32 | (6,) | 机器人关节状态观测，与 action 的关节名称对应 |
observation.images.top |
video | (480, 640, 3) | 顶部摄像头视频流，分辨率 480x640，30 FPS，AV1 编码 |
observation.images.wrist |
video | (480, 640, 3) | 腕部摄像头视频流，分辨率 480x640，30 FPS，AV1 编码 |
intervention |
bool | (1,) | 是否有人工干预标志 |
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 |
机器人类型
- 机器人:
so_follower(跟随机器人)
数据存储结构
- 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 - 数据集配置: 包含一个名为
default的配置，数据文件为data/*/*.parquet
可视化
- 可通过 LeRobot 可视化工具 在线查看数据集内容
