rainbowrobotics/simtos_0412_sub

这是一个使用LeRobot创建的机器人控制数据集，专为机器人学习任务设计。数据集包含569个完整情节（episodes）、116,829帧数据，涵盖3个不同任务。数据特征包括：16维的机器人动作向量（控制右臂7关节、左臂7关节以及左右夹爪各1个自由度）；16维的机器人状态观测向量（与动作向量结构相同）；以及来自三个摄像头（front、right、left）的视频观测，分辨率分别为480x640和640x480，帧率为15fps，使用AV1编解码器。此外，数据还包含时间戳、帧索引、情节索引、任务索引等元数据。数据集采用Apache 2.0许可证，数据以Parquet格式存储，总数据文件大小约100MB，视频文件大小约200MB。机器人类型为rby1。

This is a robotics control dataset created using LeRobot, designed for robot learning tasks. The dataset contains 569 complete episodes with 116,829 frames across 3 different tasks. Features include: a 16-dimensional robot action vector (controlling 7 joints for the right arm, 7 joints for the left arm, and 1 degree of freedom for each gripper); a 16-dimensional robot state observation vector (with the same structure as the action vector); and video observations from three cameras (front, right, left) with resolutions of 480x640 and 640x480 at 15fps, using the AV1 codec. Additionally, the data includes metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is licensed under Apache 2.0, stored in Parquet format, with total data file size approximately 100MB and video file size approximately 200MB. The robot type is rby1.