zzq1zh/real_so101_record_v3

该数据集是一个机器人数据集，使用LeRobot工具创建，专门针对so_follower机器人类型。数据集包含90个episodes，总计41717帧，覆盖18个不同任务，以15帧每秒的速率采集。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括：动作数据（6个浮点型关节位置，如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（与动作相同的6个关节位置）、来自三个摄像头的图像观察（cam_hand、cam_front、cam_side，每个摄像头提供480x640分辨率、3通道的RGB视频，使用av1编解码器），以及元数据如时间戳、帧索引、episode索引、索引和任务索引。数据集仅包含训练分割，用于机器人学习和控制任务。

This dataset is a robotics dataset created using the LeRobot tool, specifically for the so_follower robot type. It contains 90 episodes, totaling 41,717 frames, covering 18 different tasks, captured at 15 frames per second. The data is stored in parquet format, with a total data file size of 100MB and video file size of 200MB. The dataset features include: action data (6 floating-point joint positions such as shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions), observation state (the same 6 joint positions as actions), image observations from three cameras (cam_hand, cam_front, cam_side, each providing 480x640 resolution, 3-channel RGB video with av1 codec), and metadata such as timestamp, frame index, episode index, index, and task index. The dataset includes only a training split and is intended for robot learning and control tasks.