unifolm-vla的数据训练recipe统计
数据集统计对比
1. Episodes 数量统计
| Dataset | Episodes |
|---|---|
| austin_buds_dataset_converted_externally_to_rlds | 50 |
| austin_sailor_dataset_converted_externally_to_rlds | 240 |
| austin_sirius_dataset_converted_externally_to_rlds | 559 |
| bc_z | 43264 |
| berkeley_autolab_ur5 | 1000 |
| berkeley_cable_routing | 1647 |
| berkeley_fanuc_manipulation | 415 |
| cmu_stretch | 135 |
| dlr_edan_shared_control_converted_externally_to_rlds | 104 |
| fractal20220817_data | 87212 |
| furniture_bench_dataset_converted_externally_to_rlds | 5100 |
| iamlab_cmu_pickup_insert_converted_externally_to_rlds | 631 |
| jaco_play | 1085 |
| kuka | 580392 |
| language_table | 442226 |
| nyu_franka_play_dataset_converted_externally_to_rlds | 456 |
| roboturk | 1995 |
| stanford_hydra_dataset_converted_externally_to_rlds | 570 |
| toto | 1003 |
| ucsd_kitchen_dataset_converted_externally_to_rlds | 150 |
| utaustin_mutex | 1500 |
| viola | 150 |
总计
Total Episodes: 1,169,884
2. Steps 数量统计
| Dataset | Steps |
|---|---|
| austin_buds_dataset_converted_externally_to_rlds | 34,112 |
| austin_sailor_dataset_converted_externally_to_rlds | 353,094 |
| austin_sirius_dataset_converted_externally_to_rlds | 279,939 |
| bc_z | 6,015,535 |
| berkeley_autolab_ur5 | 97,939 |
| berkeley_cable_routing | 42,328 |
| berkeley_fanuc_manipulation | 62,613 |
| cmu_stretch | 25,016 |
| dlr_edan_shared_control_converted_externally_to_rlds | 8,928 |
| fractal20220817_data | 3,786,400 |
| furniture_bench_dataset_converted_externally_to_rlds | 3,948,057 |
| iamlab_cmu_pickup_insert_converted_externally_to_rlds | 146,241 |
| jaco_play | 77,965 |
| kuka | 8,583,978 |
| language_table | 7,045,476 |
| nyu_franka_play_dataset_converted_externally_to_rlds | 44,875 |
| roboturk | 187,507 |
| stanford_hydra_dataset_converted_externally_to_rlds | 358,234 |
| toto | 325,699 |
| ucsd_kitchen_dataset_converted_externally_to_rlds | 3,970 |
| utaustin_mutex | 361,883 |
| viola | 76,324 |
总计
Total Steps: 31,866,113
3. 简要说明
- Episodes：表示任务轨迹数量（轨迹级别）
- Steps：表示所有轨迹中的时间步总数（帧级别）
- 平均每个 episode 的 step 数约为：
[
\frac{31,866,113}{1,169,884} \approx 27.24
]
即：平均每条轨迹约 27 步