bimanual-so101-pickvials-real

该数据集是使用LeRobot工具创建的，专注于机器人学领域，特别是双手机器人在真实环境中的操作任务。数据集包含63个episodes，总计35,745帧，数据以30fps的帧率采集。主要特征包括：动作数据（action）和观察状态（observation.state），均为12维浮点向量，对应左右机械臂的关节位置（如肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）；观察图像来自三个视角：左腕摄像头（wrist_left）、中心摄像头（center）和右腕摄像头（wrist_right），每个视频分辨率为480x640像素，3通道彩色，使用AV1编码；此外，还包括时间戳、帧索引、episode索引、索引和任务索引等元数据。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，适用于机器人控制和学习任务。This dataset was created using the LeRobot tool, focusing on the field of robotics, particularly bimanual robot manipulation tasks in real-world environments. It contains 63 episodes, totaling 35,745 frames, with data collected at a frame rate of 30fps. Key features include: action data (action) and observation state (observation.state), both 12-dimensional floating-point vectors corresponding to the joint positions of the left and right robotic arms (e.g., shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position); observation images from three perspectives: left wrist camera (wrist_left), center camera (center), and right wrist camera (wrist_right), each video with a resolution of 480x640 pixels, 3-channel color, encoded using AV1; additionally, metadata such as timestamps, frame index, episode index, index, and task index are included. The dataset structure is stored in Parquet file format, with a total data file size of 100MB and video file size of 200MB, suitable for robot control and learning tasks.