rollout_SortToy_20260527_143413_20260601_154742
收藏资源简介：
该数据集是一个专为机器人控制任务设计的机器人学数据集，使用LeRobot工具创建。它包含一个完整的episode，总帧数为585，帧率为30fps。数据特征包括6维动作和状态，对应机器人关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），以及来自front和top两个视角的图像视频（分辨率为480x640，RGB三通道，采用av1编码）。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总大小为300MB（其中数据文件占100MB，视频文件占200MB），机器人类型为so_follower，数据以parquet和mp4格式存储，适用于训练机器人学习模型。
This is a robotics dataset tailored specifically for robotic control tasks, developed using the LeRobot toolkit. It comprises one full episode, with a total of 585 frames and a frame rate of 30 frames per second (fps). The data features include 6-dimensional action and state data, corresponding to the robot's joint positions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position, as well as RGB videos captured from two viewpoints: front and top, with a resolution of 480×640, three RGB channels, and encoded with the AV1 codec. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The total size of the dataset is 300 MB, with 100 MB being data files and 200 MB being video files. The robot type is so_follower, and the data is stored in Parquet and MP4 formats, which is suitable for training robotic learning models.
数据集概述
- 名称: rollout_SortToy_20260527_143413_20260601_154742
- 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
| 特性 | 说明 |
|---|---|
| 总集数 (episodes) | 1 |
| 总帧数 (frames) | 585 |
| 总任务数 (tasks) | 1 |
| 帧率 (FPS) | 30 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
| 机器人类型 | so_follower |
| 数据路径格式 | data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet |
| 视频路径格式 | videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 |
| 训练/测试划分 | 训练集: 0:1 (全部数据用于训练) |
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含6个关节位置：shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper |
observation.state |
float32 | [6] | 机器人观测状态，包含6个关节位置（与动作字段名称相同） |
observation.images.front |
视频 (video) | [480, 640, 3] | 前置摄像头视角，分辨率480x640，3通道，AV1编码，30fps |
observation.images.top |
视频 (video) | [480, 640, 3] | 顶部摄像头视角，分辨率480x640，3通道，AV1编码，30fps |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 集数索引 |
index |
int64 | [1] | 索引 |
task_index |
int64 | [1] | 任务索引 |
