CarlosMunoz0/vla-mujoco-so101-stack_cubes-joystick-v1

该数据集是一个机器人操作数据集，使用LeRobot工具创建。它基于MuJoCo模拟环境中的so101机器人，执行堆叠立方体的任务，并通过操纵杆进行控制。数据集包含51个剧集，总计106,688帧，帧率为30 FPS。数据以Parquet格式存储，总数据文件大小为100 MB，视频文件大小为200 MB。特征包括动作（6维浮点数，表示机器人关节位置和夹爪位置）、观测状态（13维浮点数，包括关节位置、末端执行器位置和四元数）、以及多个图像观测（如RealSense RGB、深度和可视化深度图像，以及腕部摄像头图像，均为480x640分辨率、3通道视频）。此外，还包含时间戳、帧索引、剧集索引、索引和任务索引等元数据。数据集仅用于训练分割，适用于机器人学习和控制研究。

This dataset is a robotics manipulation dataset created using the LeRobot tool. It involves the so101 robot in a MuJoCo simulation environment, performing a cube stacking task controlled via a joystick. The dataset contains 51 episodes with a total of 106,688 frames at 30 FPS. Data is stored in Parquet format, with a total data file size of 100 MB and video file size of 200 MB. Features include actions (6-dimensional float32, representing robot joint positions and gripper position), observation states (13-dimensional float32, including joint positions, end-effector position, and quaternion), and multiple image observations (such as RealSense RGB, depth, and depth visualization images, as well as wrist camera images, all in 480x640 resolution, 3-channel video). Additionally, metadata such as timestamps, frame index, episode index, index, and task index are included. The dataset is split for training only and is suitable for robotics learning and control research.