rollout_fastwam_test_20260617_160536

这是一个由LeRobot创建的机器人数据集，专门用于机器人学任务。数据集包含动作和状态观测数据，其中动作和状态均涉及6个关节位置，包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置。观测数据包括来自腕部和顶部摄像头的视频流，分辨率为480x640，帧率为30 fps，采用AV1编解码器。数据集总共有3个episodes、547帧和1个任务，数据以parquet文件和视频文件形式存储，总数据大小约为100 MB，视频文件大小约为200 MB。数据集结构还包括时间戳、帧索引、episode索引等元数据，适用于机器人控制、视觉导航等研究。This is a robotics dataset developed by LeRobot, tailored for robotics-related tasks. The dataset encompasses action and state observation data, where both action and state modalities involve six joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data includes video streams captured by the wrist-mounted and top-mounted cameras, with a resolution of 480×640, a frame rate of 30 fps, and encoded using the AV1 codec. The dataset consists of 3 episodes, 547 frames in total, and covers 1 single task. The data is stored in both parquet files and video files, with an overall data size of approximately 100 MB, while the video files alone occupy around 200 MB. Additionally, the dataset structure includes metadata such as timestamps, frame indices, and episode indices, making it applicable for research in areas like robotics control, visual navigation, and other relevant fields.

原始信息汇总

数据集概述

• 数据集名称: rollout_fastwam_test_20260617_160536
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 数据文件: data/*/*.parquet (Parquet 格式)
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 总片段数 (Total Episodes): 3
• 总帧数 (Total Frames): 547
• 总任务数 (Total Tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 机器人类型: omx_follower
• 数据划分: 训练集 (train) 包含 3 个片段

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	机器人动作 (6个关节位置)
observation.state	float32	[6]	机器人状态观测 (6个关节位置)
observation.images.wrist	视频	[480, 640, 3]	手腕摄像头图像 (480x640, RGB)
observation.images.top	视频	[480, 640, 3]	顶部摄像头图像 (480x640, RGB)
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

视频编码信息

• 编码格式: AV1
• 像素格式: yuv420p
• 帧率: 30 FPS
• 色深: 3 通道 (RGB)
• 编码参数: crf=30, preset=12, g=2
• 视频后端: pyav

引用信息

• 论文: 暂无信息 (需更多信息)
• 主页: 暂无信息 (需更多信息)