rollout_lingbot_test_20260702_140113
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学领域，包含机器人动作和观测数据。动作数据为6维浮点数组，表示机器人关节位置，具体包括肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置。观测数据包括状态观测（同样为6维关节位置）和图像观测：来自左侧手腕摄像头和顶部摄像头的视频，分辨率为480x640，帧率30fps，编码为AV1格式。数据集还包含时间戳、帧索引、回合索引、任务索引等元数据。总计3个回合、2963帧、1个任务，数据以parquet格式存储，总大小约300MB（其中数据文件100MB，视频文件200MB）。机器人类型为omx_follower，适用于训练和评估机器人控制模型。
This dataset was created by LeRobot, focusing on the field of robotics, and contains robot action and observation data. The action data is a 6-dimensional floating-point array representing robot joint positions, specifically including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data includes state observations (also a 6-dimensional joint position array) and image observations: videos from the left wrist camera and the top camera, with a resolution of 480x640, a frame rate of 30 fps, and encoded in AV1 format. The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. In total, it contains 3 episodes, 2963 frames, and 1 task. The data is stored in Parquet format, with a total size of approximately 300 MB (100 MB for data files and 200 MB for video files). The robot type is omx_follower, which is suitable for training and evaluating robot control models.
数据集概述
- 数据集名称:
maximellerbach/rollout_lingbot_test_20260702_140113 - 许可证: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot
数据集结构
- 编码库版本: v3.0
- 帧率: 30 FPS
- 机器人类型: omx_follower
数据规模
- 总片段数: 3
- 总帧数: 2,963
- 总任务数: 1
- 数据文件大小: 100 MB (parquet)
- 视频文件大小: 200 MB (mp4)
数据特征
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (6,) | 6维动作指令，包含肩部、肘部、腕部和夹爪的关节位置 |
observation.state |
float32 | (6,) | 6维观察状态，与动作空间相同的关节位置 |
observation.images.cam_left_wrist |
视频 | (480, 640, 3) | 左腕摄像头图像，AV1编码，30 FPS，分辨率640x480 |
observation.images.cam_high |
视频 | (480, 640, 3) | 高位摄像头图像，AV1编码，30 FPS，分辨率640x480 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 片段索引 |
index |
int64 | (1,) | 数据索引 |
task_index |
int64 | (1,) | 任务索引 |
数据划分
- 训练集:
0:3(全部3个片段用于训练)
动作与状态空间 (6维关节)
action 和 observation.state 共享相同的6维空间，包含以下关节位置：
shoulder_pan.pos(肩部旋转)shoulder_lift.pos(肩部抬起)elbow_flex.pos(肘部弯曲)wrist_flex.pos(腕部弯曲)wrist_roll.pos(腕部旋转)gripper.pos(夹爪)
数据格式
- 数据文件: Parquet格式，存储于
data/*/*.parquet - 视频文件: MP4格式，AV1编码，存储于
videos/*/*.mp4 - 配置文件: 默认配置
default，指向所有Parquet文件
创建工具
该数据集使用LeRobot框架创建，并支持在线可视化（通过Hugging Face Spaces）。
