SWITCH-2

该数据集由LeRobot平台创建，专注于机器人控制任务。数据集包含20个训练片段（episodes），总计5956帧数据，采样频率为30fps。数据特征包括：机器人的6维动作（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）和对应的6维观测状态；同时提供顶部和夹爪视角的图像观测，均为480x640分辨率、3通道的RGB视频（编码为av1格式）。此外，数据包含时间戳、帧索引、片段索引、任务索引等元数据。数据集总大小约300MB（数据文件100MB，视频文件200MB），使用Apache 2.0许可证，适用于机器人模仿学习或强化学习研究。This dataset was created by the LeRobot platform and focuses on robotic control tasks. It contains 20 training episodes, totaling 5956 frames with a sampling frequency of 30 fps. The data features include 6-dimensional robot actions (such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and their corresponding 6-dimensional observation states. Additionally, image observations from the top view and the gripper viewpoint are provided, both of which are 480x640 resolution, 3-channel RGB videos encoded in AV1 format. Metadata including timestamps, frame indices, episode indices, and task indices is also included. The total size of the dataset is approximately 300 MB, with 100 MB being data files and 200 MB being video files. It is licensed under Apache 2.0 and is applicable to research in robotic imitation learning or reinforcement learning.

原始信息汇总

数据集 SWITCH-2 概述

• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 创建工具: LeRobot

数据集结构

该数据集基于 LeRobot v3.0 格式，包含以下关键特征：

• 帧率 (FPS): 30
• 机器人类型: so_follower

数据特征 (Features)

特征名称	数据类型	形状 (Shape)	描述
action	float32	[6]	机器人动作指令，包含：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	机器人观测状态，与动作特征名称和顺序一致
observation.images.top	video	[480, 640, 3]	顶部视角的 RGB 视频，编码为 AV1，帧率 30 FPS，分辨率 640x480，3通道
observation.images.gripper	video	[480, 640, 3]	夹爪视角的 RGB 视频，编码为 AV1，帧率 30 FPS，分辨率 640x480，3通道
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	剧集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

数据统计

• 总剧集数 (Total Episodes): 20
• 总帧数 (Total Frames): 5956
• 总任务数 (Total Tasks): 1
• 数据分块大小 (Chunks Size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

文件路径格式

• 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

数据划分 (Splits)

• 训练集 (train): 0:20 (所有 20 个剧集全部用于训练)