rollout_stackblocks_iter1_20260712_180505
收藏资源简介：
该数据集由LeRobot创建，专为机器人学任务设计，包含50个episodes，总计41092帧数据，以parquet格式存储。数据特征包括机器人的动作（action）和观测（observation），动作和观测状态均涉及6个关节位置：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。观测部分还包括两个视角的图像数据：顶部摄像头和腕部摄像头，图像为视频格式，分辨率480x640，帧率30fps，使用AV1编解码器。此外，数据集包含干预标志、下一帧成功标志、时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为so_follower，数据集总大小约为300MB（其中数据文件100MB，视频文件200MB），适用于训练和评估机器人控制模型。
This dataset was developed by LeRobot and is purpose-built for robotics-related tasks. It comprises 50 episodes with a total of 41,092 frames, stored in Parquet format. The data features include robot actions and observations, both of which cover 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation component additionally includes image data from two viewpoints: a top camera and a wrist camera. The images are formatted as video with a resolution of 480×640, a frame rate of 30 fps, and encoded using the AV1 codec. Furthermore, the dataset includes metadata such as intervention flags, next-frame success flags, timestamps, frame indices, episode indices, and task indices. The robot type for this dataset is so_follower. The overall size of the dataset is approximately 300 MB, with 100 MB being data files and 200 MB being video files. This dataset is suitable for training and evaluating robot control models.
数据集概述
- 数据集名称: rollout_stackblocks_iter1_20260712_180505
- 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
- 版本: codebase_version v3.0
- 帧率: 30 FPS
- 机器人类型: so_follower
- 总片段数: 50
- 总帧数: 41092
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据划分: 训练集 (50个片段全部用于训练)
特征详情
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作，包含6个关节位置（shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos） |
| observation.state | float32 | [6] | 机器人观察状态，包含与动作相同的6个关节位置 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道，编码为AV1 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，3通道，编码为AV1 |
| intervention | bool | [1] | 是否人工干预 |
| next.success | bool | [1] | 下一个状态是否成功 |
| 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
- 数据文件: 使用 Parquet 格式存储，路径为
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件: 使用 MP4 格式存储，路径为
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 元数据文件: 包含完整数据结构的
meta/info.json文件
可视化
可通过 Hugging Face Spaces 可视化该数据集：可视化链接
