rollout_openarm-inference_grootN17_20260726_202104
收藏资源简介：
该数据集使用LeRobot创建，包含机器人操作任务的数据。数据集结构包括动作（action）和观测（observation），其中动作和状态观测分别记录左右机械臂的7个关节位置和夹爪位置（共16个浮点值）。图像观测提供左腕、前视和右腕摄像头的视频数据，分辨率为480x640，帧率为30fps，视频编码为av1。数据集还包含时间戳、帧索引、剧集索引、任务索引等元数据。数据集总共有1个任务、1个剧集和1621帧，机器人类型为bi_openarm_follower，数据以parquet文件和视频文件存储，总数据大小为100MB，视频文件大小为200MB。数据集适用于机器人技术任务，如模仿学习或控制策略训练。
This dataset was developed using LeRobot and contains data for robotic manipulation tasks. The dataset structure includes action and observation data, where the action and state observation records respectively capture the 7 joint positions and gripper position of the left and right robotic arms, totaling 16 floating-point values. The image observations provide video streams from the left wrist, front-facing, and right wrist cameras, with a resolution of 480x640, a frame rate of 30 fps, and AV1 encoding. The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. In total, the dataset contains 1 task, 1 episode, and 1621 frames, with the robotic platform being bi_openarm_follower. The data is stored in Parquet files and video files, with an overall data size of 100 MB, and the video files alone occupy 200 MB. This dataset is applicable to robotic tasks including imitation learning and control policy training.
数据集概述
- 数据集名称:
rollout_openarm-inference_grootN17_20260726_202104 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 使用 LeRobot 创建
数据集结构
- 数据格式: Parquet 文件和 MP4 视频文件
- 帧率 (FPS): 30
- 总片段数: 1
- 总帧数: 1621
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型:
bi_openarm_follower(双臂开源机械臂) - 数据划分:
- 训练集: 索引 0 到 1
特征字段
| 字段名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [16] | 包含左右臂各7个关节位置和2个夹爪位置的动作指令 |
observation.state |
float32 | [16] | 机器人状态观测，维度同 action |
observation.images.left_wrist |
video | [480, 640, 3] | 左腕摄像头视频，AV1 编码，30fps |
observation.images.front |
video | [480, 640, 3] | 前置摄像头视频，AV1 编码，30fps |
observation.images.right_wrist |
video | [480, 640, 3] | 右腕摄像头视频，AV1 编码，30fps |
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 |
动作与状态维度说明
- 左臂关节 (left_joint_1 ~ left_joint_7): 7 维位置信息
- 左夹爪 (left_gripper): 1 维位置信息
- 右臂关节 (right_joint_1 ~ right_joint_7): 7 维位置信息
- 右夹爪 (right_gripper): 1 维位置信息
数据存储路径
- 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
