CRPlab/lekiwi-dataset

该数据集是使用LeRobot创建的机器人控制数据集，包含20个任务片段，共9019帧数据。数据集记录了SO100型跟随机器人的动作指令（包括肩部、肘部、腕部和夹爪的位置控制）、状态观测数据（关节位置信息），以及前视摄像头和腕部摄像头的视频数据（分辨率480x640，30fps）。数据以parquet格式存储，总数据量约100MB，视频数据约200MB。

This dataset was created using LeRobot for robotic control tasks. It contains 20 episodes with a total of 9019 frames. The dataset records action commands (including position control for shoulder, elbow, wrist and gripper), state observations (joint position information), as well as front-view and wrist-camera video data (resolution 480x640, 30fps). Data is stored in parquet format with approximately 100MB for data files and 200MB for video files.