rollout_SortToy_20260527_143413_20260612_154955
收藏资源简介：
该数据集是一个名为rollout_SortToy的机器人演示数据集，专注于排序玩具任务。它基于LeRobot平台创建，采用so_follower机器人类型。数据集包含一个完整的演示回合，总共有573帧数据，帧率为30fps。数据特征包括：动作（action）——包含6个浮点数值，对应机器人的肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置；状态观测（observation.state）——同样包含6个浮点数值，表示机器人的关节位置；图像观测（observation.images）——提供来自前部（front）和顶部（top）摄像头的视频数据，每个视频的分辨率为480x640，3个颜色通道，使用av1编解码器，无音频；以及元数据如时间戳、帧索引、回合索引、任务索引等。数据集以parquet格式存储数据文件，mp4格式存储视频文件，总数据文件大小为100MB，视频文件大小为200MB。该数据集适用于机器人控制、强化学习或计算机视觉任务的研究和开发，许可证为Apache-2.0。
This dataset is a robotic demonstration dataset named rollout_SortToy, focusing on the toy sorting task. It is created based on the LeRobot platform and adopts the so_follower robot type. The dataset contains one complete demonstration episode, with a total of 573 frames at a frame rate of 30 fps. The data features include: Action: 6 floating-point values, corresponding to the robot's shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position; State observation (observation.state): Also contains 6 floating-point values representing the robot's joint positions; Image observation (observation.images): Provides video data from the front and top cameras. Each video has a resolution of 480x640 with 3 color channels, uses the AV1 codec and has no audio. Metadata such as timestamps, frame indices, episode indices, task indices and other related information are also included. The dataset stores data files in Parquet format and video files in MP4 format, with a total data file size of 100 MB and a video file size of 200 MB. This dataset is suitable for research and development of robotic control, reinforcement learning or computer vision tasks, and is licensed under Apache-2.0.
数据集概述
- 数据集名称: rollout_SortToy_20260527_143413_20260612_154955
- 许可协议: 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
- 总集数 (episodes): 1
- 总帧数 (frames): 573
- 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
特征 (Features)
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | (6,) | 6维动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | (6,) | 6维状态观测：与动作相同的关节位置 |
| observation.images.front | 视频 (video) | (480, 640, 3) | 前视摄像头，分辨率480x640，3通道，AV1编码，30fps |
| observation.images.top | 视频 (video) | (480, 640, 3) | 顶视摄像头，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,) | 集索引 |
| index | int64 | (1,) | 索引 |
| task_index | int64 | (1,) | 任务索引 |
数据划分
- 训练集 (train): 索引范围 0:1，即全部数据用于训练
文件路径
- 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
主页与论文
- 主页: [更多信息需要补充]
- 论文: [更多信息需要补充]
引用信息
- BibTeX: [更多信息需要补充]
