lavawolfiee/so101_bimanual_paper_fold

该数据集使用LeRobot创建，专注于机器人领域，具体涉及双手机械臂（bi_so_follower）的操控任务。数据集包含51个总剧集和124964个总帧，数据以parquet文件格式存储，视频文件为MP4格式，帧率为30fps。特征包括动作数据（12个浮点值，对应左右机械臂的12个关节位置，如肩部、肘部、腕部和夹爪的位置）、观察状态（与动作数据类似，表示机器人状态），以及来自三个摄像头的图像观察（左上方、左跟随者左、右跟随者右），每个视频分辨率为480x640，彩色通道，使用av1编解码器。此外，数据集包含时间戳、帧索引、剧集索引、索引和任务索引等元数据。该数据集适用于机器人学习任务，如动作模仿、状态估计和视觉感知。

This dataset was created using LeRobot and focuses on the robotics domain, specifically involving bimanual robotic arm (bi_so_follower) manipulation tasks. It contains a total of 51 episodes and 124964 frames, with data stored in parquet format and video files in MP4 format at 30fps. Features include action data (12 float32 values corresponding to the positions of 12 joints for both left and right arms, such as shoulder, elbow, wrist, and gripper positions), observation state (similar to action data, representing robot state), and image observations from three cameras (left_top, left_follower_left, right_follower_right), each with a resolution of 480x640, color channels, using the av1 codec. Additionally, the dataset includes metadata such as timestamp, frame index, episode index, index, and task index. This dataset is suitable for robotics learning tasks, such as action imitation, state estimation, and visual perception.