so-arm-101-general-0.2

该数据集是一个使用LeRobot创建的机器人操作数据集，专门用于机器人学习任务。数据集包含120个episodes，总计35999帧，数据以parquet格式存储，视频以mp4格式存储。数据集的特征包括：动作（action）和观察状态（observation.state），均为6维浮点数组，表示机器人关节位置（具体为肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）；观察图像来自两个摄像头（camera1和camera2），分别以720x1280和360x640分辨率、15fps的H.264编码视频提供；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。数据集结构基于代码库版本v3.0，机器人类型为so_follower，仅包含训练分割。

This dataset is a robot operation dataset created using LeRobot, specifically designed for robot learning tasks. It contains 120 episodes, totaling 35,999 frames, with data stored in parquet format and videos in mp4 format. The dataset features include: action and observation.state, both as 6-dimensional floating-point arrays representing robot joint positions (specifically shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position); observation images from two cameras (camera1 and camera2), provided as H.264 encoded videos at 15fps with resolutions of 720x1280 and 360x640 respectively; additionally, metadata includes timestamps, frame index, episode index, index, and task index. The dataset structure is based on codebase version v3.0, with robot type so_follower, and includes only the training split.