rollout_SortToy_20260527_143413_20260612_152217
收藏资源简介：
该数据集是使用LeRobot创建的机器人学数据集，专注于机器人控制任务。它包含机器人的动作数据（如肩部、肘部、腕部和夹爪的位置）和观测数据，后者包括状态信息（与动作相同的关节位置）以及来自前部和顶部摄像头的视频图像（分辨率为480x640，30帧/秒）。数据以Parquet格式存储，并包含时间戳、帧索引、episode索引等元数据。适用于机器人模仿学习或强化学习研究，支持训练和评估机器人执行特定任务（如排序玩具）。数据集结构详细，总共有1个episode、1帧和1个任务，数据文件大小为100MB，视频文件大小为200MB。
This robotics dataset is developed with LeRobot, focusing on robotic control tasks. It encompasses robotic action data (e.g., positions of the shoulder, elbow, wrist and gripper) and observation data. The observation data includes state information (identical joint positions to the action data) as well as video images captured by the front and top cameras, with a resolution of 480×640 and a frame rate of 30 FPS. The data is stored in Parquet format, and contains metadata such as timestamps, frame indices and episode indices. It is suitable for robotic imitation learning or reinforcement learning research, supporting the training and evaluation of robots to perform specific tasks such as toy sorting. The dataset has a detailed structure, with a total of 1 episode, 1 frame and 1 task. The size of the data files is 100 MB, and the total size of the video files is 200 MB.
数据集概述
- 数据集名称: rollout_SortToy_20260527_143413_20260612_152217
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集来源
- 该数据集使用 LeRobot 框架创建。
数据集结构
- 数据格式: 包含 Parquet 文件 (
data/*/*.parquet) 和视频文件。 - 总集数 (episodes): 1
- 总帧数 (frames): 1
- 总任务数 (tasks): 1
- 帧率 (fps): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: so_follower
- 数据拆分: 训练集 (train) 包含全部数据 (0:1)
特征字段
| 字段名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含 6 个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
observation.state |
float32 | [6] | 机器人状态，包含 6 个关节位置 (同动作字段) |
observation.images.front |
video | [480, 640, 3] | 前置摄像头视频，分辨率 480x640，3 通道，AV1 编码，30 fps |
observation.images.top |
video | [480, 640, 3] | 顶部摄像头视频，分辨率 480x640，3 通道，AV1 编码，30 fps |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 集索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
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
