rainbowrobotics/simtos_0412_mirror_rel

该数据集是一个机器人学数据集，使用LeRobot创建，专注于机器人动作和观测数据。它包含双臂机器人的动作数据（16维，包括右臂7个关节、左臂7个关节以及两个夹爪的1个关节），状态观测数据（同样16维，反映机器人关节状态），以及来自三个摄像头的图像观测数据（前摄像头分辨率为480x640，右和左摄像头分辨率为640x480，均为彩色视频，帧率为15fps）。数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。总共有944个episodes，191902帧，数据文件大小为100MB，视频文件大小为200MB，机器人类型为rby1，并包含训练集划分。数据以Parquet格式存储，视频以MP4格式编码为AV1。

This dataset is a robotics dataset created using LeRobot, focusing on robot actions and observations. It includes action data for a dual-arm robot (16 dimensions, covering 7 joints for the right arm, 7 joints for the left arm, and 1 joint for each gripper), state observation data (also 16 dimensions, reflecting robot joint states), and image observation data from three cameras (front camera with 480x640 resolution, right and left cameras with 640x480 resolution, all in color video at 15fps). The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. There are a total of 944 episodes, 191902 frames, with data file size of 100MB and video file size of 200MB. The robot type is rby1, and it includes a training split. Data is stored in Parquet format, with videos encoded in MP4 using AV1 codec.