eval_smolvla_sorting_full_ft_60ep_step160000_A_IID_redRight_v1
收藏资源简介：
该数据集是一个基于LeRobot框架创建的机器人学习数据集，专门用于机器人控制任务。它包含一个完整的episode，总计1375帧，对应1个任务。数据以parquet文件格式存储，视频文件为mp4格式，帧率为30fps。数据集特征涵盖动作数据（包括肩部、肘部、腕部和夹爪的位置）、观察状态（与动作相同的关节位置）、来自顶部和手腕摄像头的图像观察（分辨率为480x640，RGB三通道），以及时间戳、帧索引和episode索引等元数据。机器人类型为so_follower，适用于机器人跟随或操作任务。数据集结构支持训练分割，数据量约为100MB，视频文件大小约为200MB。
This dataset is a robotics learning dataset developed based on the LeRobot framework, exclusively designed for robotics control tasks. It contains one complete episode, totaling 1375 frames, corresponding to a single task. The data is stored in Parquet file format, with video files in MP4 format at a frame rate of 30 fps. The dataset features cover action data (including positions of the shoulder, elbow, wrist and gripper), observation states (identical joint positions to the action data), image observations from the top and wrist cameras (with a resolution of 480x640 and three RGB channels), as well as metadata such as timestamps, frame index and episode index. The robot type is so_follower, which is applicable to robot following or manipulation tasks. The dataset structure supports training splits, with an overall data volume of approximately 100 MB, and the video file size is around 200 MB.
数据集概述
- 数据集名称:
Harumo/eval_smolvla_sorting_full_ft_60ep_step160000_A_IID_redRight_v1 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建方式: 使用 LeRobot 创建
数据集结构
- 机器人类型:
so_follower - 总片段数: 1
- 总帧数: 1375
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 数据划分: 训练集 (train) 包含所有数据（索引 0 到 1）
特征详情
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含6个自由度：肩关节旋转、肩关节升降、肘关节弯曲、腕关节弯曲、腕关节旋转、夹爪位置 |
observation.state |
float32 | [6] | 观测状态，与动作维度相同（6自由度） |
observation.images.top |
视频 (video) | [480, 640, 3] | 顶部摄像头图像，分辨率 480×640，3 通道，AV1 编码，30 FPS |
observation.images.wrist |
视频 (video) | [480, 640, 3] | 腕部摄像头图像，分辨率 480×640，3 通道，AV1 编码，30 FPS |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 片段索引 |
index |
int64 | [1] | 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
可视化
可通过 LeRobot 数据集可视化工具 查看数据集内容。
