rollout_vla_jepa_so101_pick_toy_v9_plate_20260624_191221
收藏资源简介：
这是一个使用LeRobot创建的机器人数据集，专注于机器人控制任务。数据集包含一个回合（episode），总帧数为4776帧，涉及一个任务。数据结构包括动作特征（如肩部、肘部、腕部和夹爪的位置）、观察状态（与动作相同的关节位置）、来自两个外部摄像头（exterior_1_left和exterior_2_left）的图像观察（视频格式，分辨率480x640，30fps），以及时间戳、帧索引、回合索引、索引和任务索引等元数据。机器人类型为so_follower。数据以parquet文件格式存储，视频文件为mp4格式，总数据大小约为100MB，视频文件大小约为200MB。数据集适用于机器人学习任务，如动作预测或视觉-动作集成研究。
This is a robotic dataset developed using LeRobot, focusing on robotic control tasks. The dataset contains one episode with a total of 4776 frames for a single task. The data structure includes action features (such as positions of the shoulder, elbow, wrist, and gripper), observation states (with the same joint positions as the actions), image observations from two external cameras (exterior_1_left and exterior_2_left) in video format with a resolution of 480×640 and 30 fps, as well as metadata including timestamps, frame indices, episode indices, index, and task index. The robot type is so_follower. The data is stored in Parquet file format, while the video files are in MP4 format. The total data size is approximately 100 MB, with the video files totaling around 200 MB. This dataset is applicable to robotics learning tasks such as action prediction or visual-action integration research.
数据集概述
- 数据集名称: rollout_vla_jepa_so101_pick_toy_v9_plate_20260624_191221
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 总片段数: 1
- 总帧数: 4776
- 总任务数: 1
- 数据块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: so_follower
- 数据分割: 训练集 (train) 包含所有数据 (0:1)
特征
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.images.exterior_1_left | video | [480, 640, 3] | 外部左侧相机1的视频图像，分辨率480x640，RGB三通道，AV1编码，30 FPS |
| observation.images.exterior_2_left | video | [480, 640, 3] | 外部左侧相机2的视频图像，分辨率480x640，RGB三通道，AV1编码，30 FPS |
| 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 |
数据文件路径
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 引用格式: 暂缺 (BibTeX 信息待补充)
