so101_stacking_cube_50ep_v2_20260601_122903

该数据集是一个机器人操作数据集，专门用于堆叠立方体任务，由LeRobot工具创建。它包含30个episodes，总计29617帧，数据以30fps的帧率采集。每个数据点包括机器人的动作（6个关节位置：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）、观测状态（相同的6个关节位置），以及来自三个摄像头的视频观测：顶部摄像头、侧面摄像头和腕部摄像头，每个视频的分辨率为480x640，3通道，编码为AV1格式。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集结构以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人学习和强化学习研究。

This dataset is a robot manipulation dataset specifically designed for cube stacking tasks, created by the LeRobot tool. It contains 30 episodes, totaling 29,617 frames, collected at a frame rate of 30fps. Each data point includes robot actions (6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (the same 6 joint positions), and video observations from three cameras: top camera, side camera, and wrist camera, each with a resolution of 480x640, 3 channels, encoded in AV1 format. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is stored in Parquet file format, with a total data file size of 100MB and video file size of 200MB, suitable for robot learning and reinforcement learning research.