CoRL2026-CSI/SO101-teleop_multitask_7tasks_700epi

该数据集是通过LeRobot创建的机器人数据集，专为多任务学习设计。包含700个episodes，总计346181帧，覆盖7个不同的任务。数据以parquet格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括机器人的动作（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）、状态观测（与动作相同的6个关节位置）、图像观测（来自左腕和顶部摄像头的480x640 RGB视频，帧率30fps），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为so_follower，数据按chunks组织，每个chunk大小为1000帧。This dataset was created using LeRobot and is designed for multi-task learning in robotics. It contains 700 episodes with a total of 346,181 frames, covering 7 different tasks. The data is stored in parquet format, and videos are stored in mp4 format, with total data file size of 100MB and video file size of 200MB. The dataset features include robot actions (6 joint positions: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, gripper), state observations (same 6 joint positions as actions), image observations (480x640 RGB videos from left wrist and top cameras at 30fps), and metadata such as timestamp, frame index, episode index, index, and task index. The robot type is so_follower, and data is organized into chunks of 1000 frames each.