aaawangge/so101_bimanual_pen_holder_tidy

该数据集是一个机器人学数据集，使用LeRobot工具创建。它专门针对双手机器人（bi_so_follower）设计，包含200个episodes、128,600帧和3个任务。数据以30fps的视频和parquet文件形式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集结构包括动作特征（如左右手臂各关节位置）、观测状态（与动作特征相同）、多视角图像观测（来自四个摄像头：left_left、left_top、right_front、right_right，每个视频分辨率为480x640，RGB三通道），以及补充信息（如策略动作、干预状态、策略ID等）。数据集适用于机器人策略训练和评估，支持强化学习和模仿学习任务。

This dataset is a robotics dataset created using the LeRobot tool. It is specifically designed for a bimanual robot (bi_so_follower) and includes 200 episodes, 128,600 frames, and 3 tasks. The data is stored in video and parquet files at 30fps, with a total data file size of 100MB and video file size of 200MB. The dataset structure includes action features (e.g., positions of joints for left and right arms), observation states (same as action features), multi-view image observations (from four cameras: left_left, left_top, right_front, right_right, each with video resolution of 480x640 and three RGB channels), and complementary information (e.g., policy action, intervention status, policy ID). The dataset is suitable for robot policy training and evaluation, supporting reinforcement learning and imitation learning tasks.