rollout_openarm-inference_grootN17_20260726_155059
收藏资源简介：
该数据集由LeRobot创建，专注于机器人任务，包含一个总剧集和746帧数据。数据集结构包括动作特征（16个浮点值，表示左右机械臂关节和夹爪位置）、观察状态（与动作相同的16个浮点值）、图像观察（来自左腕、前视和右腕摄像头的视频，分辨率480x640，帧率30fps，编码为av1），以及时间戳、帧索引、剧集索引等元数据。机器人类型为bi_openarm_follower，数据以parquet格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集采用Apache 2.0许可证。
This dataset was developed by LeRobot, specializing in robotic task research. It comprises 1 total episode and 746 frames of data. The dataset structure includes the following components: action features (16 floating-point values representing the joint positions and gripper positions of the left and right robotic arms), observation states (16 identical floating-point values corresponding to the action features), visual observations (videos captured by the left wrist, front-facing, and right wrist cameras, with a resolution of 480×640, a frame rate of 30 fps, and encoded using the AV1 codec), as well as metadata such as timestamps, frame indices, and episode indices. The corresponding robotic platform is bi_openarm_follower. The structured dataset files are stored in Parquet format, while the video files are stored in MP4 format. The total size of the dataset files is 100 MB, and the total size of the video files is 200 MB. This dataset is released under the Apache 2.0 open-source license.
数据集概述
- 数据集名称: rollout_openarm-inference_grootN17_20260726_155059
- 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: 包含
.parquet文件和视频文件 - 帧率: 30 FPS
- 总片段数: 1
- 总帧数: 746
- 总任务数: 1
- 总数据量: 数据文件约100 MB，视频文件约200 MB
- 机器人类型: bi_openarm_follower
- 数据集划分: 仅包含训练集（train），范围为 0:1
特征说明
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [16] | 机器人关节动作指令，包括左右臂各7个关节位置和2个夹爪位置 |
observation.state |
float32 | [16] | 机器人关节状态观测，与动作维度相同 |
observation.images.left_wrist |
video | [480, 640, 3] | 左手腕摄像头RGB视频，编码为AV1，分辨率480×640 |
observation.images.front |
video | [480, 640, 3] | 前方摄像头RGB视频，编码为AV1，分辨率480×640 |
observation.images.right_wrist |
video | [480, 640, 3] | 右手腕摄像头RGB视频，编码为AV1，分辨率480×640 |
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 |
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
其他信息
- 主页、论文和引用: 需要进一步补充（标记为 [More Information Needed]）
