rollout_posctrl-full-c2-6cm_20260625_122831

该数据集是一个使用LeRobot工具创建的机器人控制数据集，包含机器人执行任务时的动作和状态数据，以及来自头顶摄像头的视频观测。具体特征包括：动作（action）和观测状态（observation.state）均为6维浮点数组，对应机器人的肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置；观测图像（observation.images.overhead）为视频格式，分辨率480x640，3通道，帧率30fps。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet文件格式存储，总共有10个episodes，4107帧，1个任务，数据文件大小约100MB，视频文件大小约200MB。机器人类型为so_follower，数据集分为训练集（包含所有episodes）。

This dataset is a robotic control dataset developed using the LeRobot toolkit. It contains action and state data collected during robot task execution, as well as video observations from an overhead camera. Its specific characteristics are as follows: both the `action` and `observation.state` are 6-dimensional floating-point arrays, corresponding to the robot's shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position respectively; the observation image (`observation.images.overhead`) is in video format, with a resolution of 480×640, 3 channels, and a frame rate of 30 fps. The dataset also includes metadata items such as timestamps, frame indices, episode indices and task indices. The data is stored in Parquet file format, with a total of 10 episodes, 4107 frames and 1 task. The data file has a size of approximately 100 MB, while the aggregate size of the video files is roughly 200 MB. The robot type for this dataset is so_follower, and the dataset is split into a single training set that contains all episodes.

原始信息汇总

数据集概述

• 名称: rollout_posctrl-full-c2-6cm_20260625_122831
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 版本: v3.0
• 帧率 (FPS): 30
• 总片段数: 10
• 总帧数: 4107
• 总任务数: 1
• 数据集大小:
  • 数据文件大小: 100 MB
  • 视频文件大小: 200 MB
• 数据格式: Parquet 文件 (路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet)
• 视频格式: MP4 文件 (路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4)
• 机器人类型: so_follower
• 数据划分:
  • 训练集: 10 个片段 (索引 0-9)

特征字段

字段名	数据类型	形状	说明
action	float32	[6]	动作：肩部旋转、肩部抬起、肘部弯曲、腕部弯曲、腕部转动、夹爪位置
observation.state	float32	[6]	状态观测：肩部旋转、肩部抬起、肘部弯曲、腕部弯曲、腕部转动、夹爪位置
observation.images.overhead	视频	[480, 640, 3]	俯视相机图像，分辨率 480x640，RGB 三通道，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

其他信息

• 主页: 待补充
• 论文: 待补充
• 引用格式: 待补充