smolvla_50_episodes_1_20260604_120318

该数据集是一个使用LeRobot创建的机器人学数据集，专注于so_follower机器人。它包含23个episodes，总计7909帧数据，帧率为30fps。数据集的特征包括动作（6个浮点值，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）、状态观察（与动作相同的6个浮点值）、图像观察（来自手腕和顶部摄像头的视频，分辨率为480x640，3通道，编码为av1，yuv420p格式，无音频），以及时间戳、帧索引、episode索引、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，总大小约为300MB（数据部分100MB，视频部分200MB）。数据集用于训练和评估机器人控制模型，支持多模态输入（状态和图像）。This is a robotics dataset developed with LeRobot, focusing on the so_follower robot. It contains 23 episodes, totaling 7909 frames with a frame rate of 30 fps. The dataset includes actions (6 floating-point values corresponding to shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), state observations (6 identical floating-point values as the actions), image observations (videos captured by the wrist and top cameras with a resolution of 480x640, 3 channels, encoded in AV1 format with yuv420p pixel format, no audio included), as well as metadata such as timestamps, frame indices, episode indices, sample indices, and task indices. The tabular data is stored in Parquet files, while the videos are saved in MP4 format. The total size of the dataset is approximately 300 MB, with 100 MB for the data portion and 200 MB for the video portion. This dataset is designed for training and evaluating robotic control models, and supports multimodal inputs combining state and image data.

原始信息汇总

数据集概述

• 数据集名称: jailcode/smolvla_50_episodes_1_20260604_120318
• 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

• 总幕数 (Episodes): 23
• 总帧数 (Frames): 7,909
• 总任务数 (Tasks): 1
• 帧率 (FPS): 30
• 数据文件格式: Parquet (.parquet)
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据文件大小: 约 100 MB
• 视频文件大小: 约 200 MB
• 分块大小 (Chunks Size): 1,000
• 数据集分割:
  • 训练集 (train): 0 至 22 幕 (共 23 幕)

特征 (Features)

该数据集包含以下特征，均为每帧数据：

特征名称	数据类型	维度 (shape)	说明
action	float32	[6]	机器人动作指令 (6个关节位置)
observation.state	float32	[6]	机器人状态观测 (6个关节位置)
observation.images.wrist	video	[480, 640, 3]	腕部摄像头图像 (高度480, 宽度640, 3通道)
observation.images.top	video	[480, 640, 3]	顶部摄像头图像 (高度480, 宽度640, 3通道)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	幕索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

动作与状态维度名称 (关节名称)

• shoulder_pan.pos
• shoulder_lift.pos
• elbow_flex.pos
• wrist_flex.pos
• wrist_roll.pos
• gripper.pos

视频信息 (腕部与顶部摄像头相同)

• 编码: av1
• 像素格式: yuv420p
• 帧率: 30 FPS
• 分辨率: 480x640
• 通道数: 3
• 是否为深度图: 否
• 是否含音频: 否

机器人类型

• 机器人类型: so_follower

引用信息

• BibTeX: 暂缺 (More Information Needed)