CarlosMunoz0/vla-mujoco-so101-push_cube_to_tray-v2.1

该数据集是一个机器人操作数据集，使用LeRobot工具创建，专注于模拟环境中的物体操作任务。数据集包含100个训练集片段，总计75000帧数据，帧率为30fps。数据采用Mujoco模拟器中的so101机器人模型，任务为单一任务（推测为物体推入托盘）。数据特征包括机器人的6维动作（关节位置和夹爪位置）、13维状态观测（关节位置、末端执行器位置和四元数）、以及来自RealSense和手腕摄像头的多视角视频观测（RGB和深度视觉数据），视频分辨率为480x640。数据以parquet格式存储，总数据大小约100MB，视频文件约200MB。

This dataset is a robotics manipulation dataset created using the LeRobot tool, focusing on object manipulation tasks in a simulated environment. It contains 100 training episodes with a total of 75,000 frames at 30 fps. The data is based on the so101 robot model in the Mujoco simulator, with a single task (inferred as pushing a cube to a tray). Features include 6-dimensional robot actions (joint positions and gripper position), 13-dimensional state observations (joint positions, end-effector position, and quaternion), and multi-view video observations from RealSense and wrist cameras (RGB and depth visual data) with a resolution of 480x640. The data is stored in parquet format, with a total data size of approximately 100 MB and video files of about 200 MB.