rollout_0729_20260729_185645
收藏资源简介：
该数据集是一个用于机器人控制的数据集，由LeRobot工具创建。它包含10个训练集任务，总帧数为8511，以30帧每秒的速率采集。数据集的特征包括动作（action）和观测（observation），其中动作由6个浮点数值组成，对应机械臂的关节位置（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）。观测包括状态观测（同样为6个关节位置）和图像观测（来自前置摄像头的视频数据，分辨率为480x640，3通道RGB格式）。数据集还包含时间戳、帧索引、任务索引和分集索引等元数据。数据以Parquet文件格式存储，视频以MP4格式存储，适用于机器人学习和强化学习任务。
This is a robotic control dataset developed using the LeRobot toolkit. It encompasses 10 training tasks, with a total of 8511 frames collected at a rate of 30 frames per second. The dataset includes two core modalities: action and observation. The action is composed of 6 floating-point values, which correspond to the joint positions of the robotic arm, specifically shoulder translation, shoulder elevation/depression, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation consists of two parts: state observation (also consisting of 6 joint positions) and image observation, which is video data captured by the front-facing camera, with a resolution of 480x640 and 3-channel RGB format. Additional metadata such as timestamps, frame indices, task indices, and episode indices are also included in the dataset. The structured tabular data of the dataset is stored in Parquet file format, while the video data is stored in MP4 format. This dataset is suitable for robotics learning and reinforcement learning tasks.
数据集概述
- 名称: rollout_0729_20260729_185645
- 许可证: Apache-2.0
- 任务类型: 机器人技术（Robotics）
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 帧率: 30 fps
- 总集数（episodes）: 10
- 总帧数: 8511
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: so_follower
数据特征
| 特征名称 | 数据类型 | 维度 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 动作指令：包括肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 观测状态：与动作特征相同的6个关节位置 |
| observation.images.front | video | [480, 640, 3] | 前方摄像头视频（高度480、宽度640、3通道），编码为AV1，30fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 样本索引 |
| task_index | int64 | [1] | 任务索引 |
数据划分
- 训练集: 索引 0 到 9（共10个episode）
文件路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 引用信息暂缺（More Information Needed）
