rollout_openarm-inference_grootN17_20260726_160027
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人技术任务。它包含一个双臂开放机械臂跟随器（bi_openarm_follower）的演示数据，总共有1个回合、1678帧和1个任务。数据特征包括动作（16维浮点数组，表示左右机械臂的7个关节位置和夹爪位置）、状态观测（与动作相同的16维关节位置）、多视角图像观测（来自左腕、前视和右腕摄像头的视频，分辨率为480x640，帧率30fps，编码为av1），以及时间戳、帧索引、回合索引、任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据大小约为300MB（数据文件100MB，视频文件200MB）。该数据集适用于机器人学习、模仿学习或强化学习等应用。
This is a robotics dataset developed using the LeRobot framework, specifically tailored for robotics-related tasks. It contains demonstration data for the bi_openarm_follower, a dual-arm open robotic arm follower, with a total of 1 episode, 1678 frames, and 1 distinct task. The dataset includes the following data features: actions, which are 16-dimensional floating-point arrays representing the 7 joint positions and gripper positions of the left and right robotic arms respectively; state observations, which are 16-dimensional joint positions identical to the action space; multi-view image observations, which are videos captured by three cameras: left wrist, front-view, and right wrist, with a resolution of 480×640, a frame rate of 30 fps, and encoded in AV1 format; as well as supplementary metadata including timestamps, frame indices, episode indices, and task indices. The core dataset files are stored in Parquet format, while the video files are stored in MP4 format. The total size of the entire dataset is approximately 300 MB, comprising 100 MB of data files and 200 MB of video files. This dataset is suitable for applications including robotic learning, imitation learning, and reinforcement learning.
数据集概述
- 数据集名称: rollout_openarm-inference_grootN17_20260726_160027
- 许可协议: Apache-2.0
- 任务类别: 机器人学（Robotics）
- 创建工具: 使用 LeRobot 创建
- 机器人类型: bi_openarm_follower
数据集结构
- 数据格式: Parquet 文件（data//.parquet）
- 视频格式: MP4 文件，采用 AV1 编码（videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4）
- 帧率: 30 FPS
- 总片段数: 1
- 总帧数: 1678
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
特征包含
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (16,) | 机械臂关节位置指令（左右各7个关节 + 左右夹爪） |
| observation.state | float32 | (16,) | 机械臂关节位置观测（同动作维度） |
| observation.images.front | video | (480, 640, 3) | 前方摄像头图像，分辨率 640x480，3通道 |
| observation.images.left_wrist | video | (480, 640, 3) | 左腕部摄像头图像，分辨率 640x480，3通道 |
| observation.images.right_wrist | video | (480, 640, 3) | 右腕部摄像头图像，分辨率 640x480，3通道 |
| 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 |
数据划分
- 训练集: 所有数据（split: "train" = "0:1"）
可视化
可通过 LeRobot 可视化工具查看数据集：可视化链接
