unifolm-vla的数据训练recipe统计

数据集统计对比1. Episodes 数量统计DatasetEpisodesaustin_buds_dataset_converted_externally_to_rlds50austin_sailor_dataset_converted_externally_to_rlds240austin_sirius_dataset_converted_externally_to_rlds559bc_z43264berkeley_autolab_ur51000berkeley_cable_routing1647berkeley_fanuc_manipulation415cmu_stretch135dlr_edan_shared_control_converted_externally_to_rlds104fractal20220817_data87212furniture_bench_dataset_converted_externally_to_rlds5100iamlab_cmu_pickup_insert_converted_externally_to_rlds631jaco_play1085kuka580392language_table442226nyu_franka_play_dataset_converted_externally_to_rlds456roboturk1995stanford_hydra_dataset_converted_externally_to_rlds570toto1003ucsd_kitchen_dataset_converted_externally_to_rlds150utaustin_mutex1500viola150总计Total Episodes: 1,169,8842. Steps 数量统计DatasetStepsaustin_buds_dataset_converted_externally_to_rlds34,112austin_sailor_dataset_converted_externally_to_rlds353,094austin_sirius_dataset_converted_externally_to_rlds279,939bc_z6,015,535berkeley_autolab_ur597,939berkeley_cable_routing42,328berkeley_fanuc_manipulation62,613cmu_stretch25,016dlr_edan_shared_control_converted_externally_to_rlds8,928fractal20220817_data3,786,400furniture_bench_dataset_converted_externally_to_rlds3,948,057iamlab_cmu_pickup_insert_converted_externally_to_rlds146,241jaco_play77,965kuka8,583,978language_table7,045,476nyu_franka_play_dataset_converted_externally_to_rlds44,875roboturk187,507stanford_hydra_dataset_converted_externally_to_rlds358,234toto325,699ucsd_kitchen_dataset_converted_externally_to_rlds3,970utaustin_mutex361,883viola76,324总计Total Steps: 31,866,1133. 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