blueberry-sandwich-320x240

该数据集是一个机器人任务数据集，使用LeRobot工具创建，专门用于机器人控制和学习。数据集包含264个episodes，总计210,438帧数据，覆盖4个不同任务。数据特征包括：1. 动作数据：26维浮点数组，表示双臂的线性/角速度、手部关节（如小指、无名指、中指、食指、拇指）控制，以及底盘控制。2. 观察状态：55维浮点数组，包括双臂7个关节的位置和力矩、双手各手指关节的位置和力矩，以及视线坐标（x, y）和有效性标志。3. 视觉数据：提供四个视角的视频流（左、右、用户、用户视线），每个视频分辨率为320x240，帧率15fps，编码格式为AV1，包含RGB三通道。4. 元数据：时间戳、帧索引、episode索引、任务索引等。数据集以Apache 2.0许可证发布，机器人类型为blueberry_ros，数据存储为parquet格式，视频存储为mp4格式。

This dataset is a robot task dataset created using the LeRobot tool, specifically designed for robot control and learning. It contains 264 episodes, totaling 210,438 frames, covering 4 different tasks. Data features include: 1. Action data: a 26-dimensional floating-point array representing linear/angular velocities of both arms, hand joint controls (such as pinky, ring, middle, index, thumb), and base control. 2. Observation state: a 55-dimensional floating-point array including positions and torques of 7 joints for both arms, positions and torques of finger joints for both hands, as well as gaze coordinates (x, y) and validity flags. 3. Visual data: provides four perspective video streams (left, right, user, user gaze), each with a resolution of 320x240, frame rate of 15fps, encoding format AV1, containing RGB three channels. 4. Metadata: timestamp, frame index, episode index, task index, etc. The dataset is released under the Apache 2.0 license, with robot type blueberry_ros, data stored in parquet format, and videos stored in mp4 format.