eval_smolvla-base-modified

该数据集是使用LeRobot平台创建的机器人数据集，专门针对so_follower机器人类型。它包含机器人操作任务的数据，结构上包括动作、状态观测和图像观测。动作特征由6个浮点数表示，对应肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置。状态观测与动作特征相同，提供机器人关节位置信息。图像观测来自顶部和手腕摄像头，每个图像分辨率为480x640像素，3通道（RGB格式）。此外，数据集包含时间戳、帧索引、集索引和任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。数据集适用于机器人学习和控制任务，但具体规模（如总集数、总帧数）未在提供信息中指定。This dataset is a robotic dataset created using the LeRobot platform, specifically targeting the so_follower robot type. It contains data for robotic manipulation tasks, structured into actions, state observations, and image observations. The action features are represented by 6 floating-point numbers, corresponding to shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The state observations are identical to the action features, providing information on the robot's joint positions. The image observations are captured from a top camera and a wrist camera, with each image having a resolution of 480×640 pixels and 3 channels (RGB format). Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet file format, while the videos are stored in MP4 format with a frame rate of 30fps. This dataset is applicable to robotic learning and control tasks, but the specific scale (such as total number of episodes and total frames) is not specified in the provided information.

原始信息汇总

数据集概述：eval_smolvla-base-modified

基本信息

• 许可证：Apache-2.0
• 任务类别：机器人技术（robotics）
• 标签：LeRobot
• 创建工具：使用 LeRobot 创建

数据集结构

• 机器人类型：so_follower
• 总片段数：0
• 总帧数：0
• 总任务数：0
• 帧率（fps）：30
• 数据分块大小：1000
• 数据文件大小：约 100 MB
• 视频文件大小：约 200 MB

数据特征

特征	数据类型	形状	说明
action	float32	[6]	包含6个动作维度：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	状态观测，与动作相同维度
observation.images.top	video	[480, 640, 3]	顶部摄像头图像，分辨率480×640，RGB三通道
observation.images.wrist	video	[480, 640, 3]	腕部摄像头图像，分辨率480×640，RGB三通道
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

引用说明

• 主页：[未提供]
• 论文：[未提供]
• BibTeX：[未提供]