daixianjie/controlled_icil_libero_j0_j5

该数据集名为受控ICIL LIBERO原子数据集，采用LeRobot v2格式存储，包含受控的原子LIBERO拾取和放置演示。数据集包含576个片段，60,925帧，帧率为每秒10帧，涉及的对象包括BBQ酱、番茄酱、番茄沙司和沙拉酱，共有24种布局和抖动级别从J0到J5。训练特征仅限于图像、手腕图像、状态、动作及标准的LeRobot索引和时间戳。受控ICIL元数据存储在parquet特征模式之外，包含布局定义、分割索引、源片段查找和收集/调试元数据。This dataset is named Controlled ICIL LIBERO Atomic Dataset and is stored in LeRobot v2 format, containing controlled atomic LIBERO pick-and-place demonstrations. The dataset includes 576 episodes, 60,925 frames, a frame rate of 10 FPS, objects such as BBQ sauce, tomato sauce, ketchup, and salad dressing, 24 layouts, and jitter levels from J0 to J5. The training features are limited to images, wrist images, state, actions, and standard LeRobot indices and timestamps. Controlled ICIL metadata is stored outside the parquet feature schema, containing layout definitions, split indices, source episode lookups, and collection/debug metadata.