rollout_test_20260715_194133
收藏资源简介：
该数据集由LeRobot创建，专注于机器人操作任务，包含机器人动作和观测数据。动作数据包括6个关节位置（肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转、夹爪位置），观测数据包括相同的关节状态以及前视和整体视角的视频图像（分辨率480x640，30fps，AV1编码）。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总共有10个episodes，3532帧，涉及1个任务，数据以parquet文件格式存储，视频以mp4格式存储，机器人类型为so_follower，适用于机器人学习和控制研究。
This dataset was developed by LeRobot, focusing on robotic manipulation tasks, and encompasses robotic action and observation data. The action data consists of 6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data includes the identical joint states, alongside video images captured from front-facing and global perspectives, with a resolution of 480×640, 30 frames per second (fps), and encoded in AV1. The dataset also provides supplementary metadata including timestamps, frame indices, episode indices, and task indices. In total, this dataset comprises 10 episodes, 3532 frames, and covers one single task. The structured data is stored in Parquet file format, while the video files are stored in MP4 format. The robotic platform utilized is so_follower, and this dataset is suitable for research in robotic learning and control.
数据集概述
- 名称: rollout_test_20260715_194133
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 数据格式: Parquet 文件 (位于
data/*/*.parquet) - 视频格式: MP4 文件 (位于
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4) - 帧率 (FPS): 30
- 机器人类型: so_follower
- 分割信息:
- 训练集: 包含所有数据 (索引 0 到 10)
特征详情
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 6 维动作，包含机械臂关节位置（shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos）和夹爪位置 (gripper.pos) |
observation.state |
float32 | [6] | 6 维观测状态，与动作特征同名 |
observation.images.front |
video | [480, 640, 3] | 前方视角 RGB 视频，AV1 编码，分辨率 480x640 |
observation.images.overall |
video | [480, 640, 3] | 整体视角 RGB 视频，AV1 编码，分辨率 480x640 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 回合索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
数据统计
- 总回合数: 10
- 总帧数: 3532
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
引用信息
- 论文: 待提供
- BibTeX: 待提供
