KS325/open-upper-drawer-r2-emp-val

该数据集是一个机器人任务数据集，使用LeRobot创建。数据集包含4个完整的情节（episodes），总计2997帧数据，涉及一个任务。数据特征包括：动作数据（6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）、观测状态（与动作相同的6个关节位置）、两个摄像头（camera1和camera2）的图像观测（分辨率480x640，RGB三通道，30帧/秒），以及时间戳、帧索引、情节索引、任务索引等元数据。数据以Parquet格式存储，视频以MP4格式存储，适用于机器人控制、强化学习或模仿学习等研究。

This dataset is a robotics task dataset created using LeRobot. It contains 4 complete episodes, totaling 2997 frames, and involves one task. The features include: action data (6 joint positions: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, gripper position), observation state (the same 6 joint positions as actions), image observations from two cameras (camera1 and camera2, with 480x640 resolution, RGB three channels, 30 fps), and metadata such as timestamp, frame index, episode index, and task index. The data is stored in Parquet format, and videos are stored in MP4 format, suitable for research in robot control, reinforcement learning, or imitation learning.