HyeonseokE/SO101-PickandPlace_Ours_40epi

该数据集是一个机器人操作数据集，专门用于拾取和放置任务，使用LeRobot工具创建。数据集包含40个episodes，总计13196帧，涉及单个任务类型。数据以parquet文件格式存储，视频以mp4格式存储，帧率为10fps。特征包括机器人关节状态（6维）、动作指令（6维）、两个视角的图像观察（顶部和左手腕，分辨率480x640）、末端执行器位置和姿态、抓取器状态、技能的自然语言描述、验证问题、技能类型、进度、目标位置（关节和笛卡尔空间）、子任务的自然语言描述、对象名称、目标位置、时间戳、帧索引、episode索引等。数据分割为训练集（全部40个episodes），适用于机器人学习和模仿学习任务。

This dataset is a robotics manipulation dataset specifically for pick-and-place tasks, created using the LeRobot tool. It contains 40 episodes, totaling 13196 frames, and involves a single task type. The data is stored in parquet file format, with videos in mp4 format at 10fps. Features include robot joint states (6-dimensional), action commands (6-dimensional), image observations from two perspectives (top and left wrist, resolution 480x640), end-effector position and orientation, gripper status, natural language descriptions of skills, verification questions, skill types, progress, goal positions (joint and Cartesian space), natural language descriptions of subtasks, object names, target positions, timestamps, frame indices, episode indices, etc. The data is split into a training set (all 40 episodes) and is suitable for robotics learning and imitation learning tasks.