rollout_pi0_lerobot_pick_cube_into_the_bowl_20260703_191846

该数据集是一个机器人技术数据集，由LeRobot创建，用于机器人执行拾取立方体并放入碗中的任务。数据集包含一个总情节，共551帧，采样频率为30 FPS。数据特征包括：动作数据（涉及6个关节位置：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）、观测状态（与动作相同的6个关节位置）、来自基础摄像头和手腕摄像头的图像观测（分辨率为480x640，3通道彩色视频，编码为AV1，30 FPS），以及时间戳、帧索引、情节索引、索引和任务索引。数据集以Parquet文件格式存储，总数据大小为100 MB，视频文件大小为200 MB。机器人类型为“so_follower”，适用于训练机器人控制模型。This is a robotics dataset developed by LeRobot, tailored for the task of a robot picking up a cube and placing it into a bowl. The dataset consists of one single episode, containing a total of 551 frames sampled at 30 FPS. The dataset includes the following data features: action data involving 6 joint positions (shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (the same 6 joint positions as those in the action data), image observations captured by the base camera and wrist camera (with a resolution of 480×640, 3-channel color video encoded in AV1 format at 30 FPS), as well as timestamps, frame index, episode index, index, and task index. The dataset is stored in Parquet file format, with a total size of 100 MB for the non-video data, and the video files have a total size of 200 MB. The robot type is "so_follower", and this dataset is suitable for training robot control models.

原始信息汇总

数据集概述

• 数据集名称: rollout_pi0_lerobot_pick_cube_into_the_bowl_20260703_191846
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot

数据集来源与构建

• 该数据集使用 LeRobot 框架创建。

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 30
• 总片段数 (Episodes): 1
• 总帧数 (Frames): 551
• 总任务数 (Tasks): 1
• 机器人类型: so_follower
• 数据拆分: 仅包含训练集 (train: 0:1)

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[6]	动作数据，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]	观测状态，与动作维度相同的关节位置信息
observation.images.base_camera	video (AV1编码)	[480, 640, 3]	基础摄像头图像，分辨率480x640，RGB三通道，帧率30fps
observation.images.wrist_camera	video (AV1编码)	[480, 640, 3]	腕部摄像头图像，分辨率480x640，RGB三通道，帧率30fps
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

数据文件

• 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: 100 MB
• 视频文件大小: 200 MB
• 分块大小 (Chunks size): 1000