dtsybrik/SO-100-ACT-cat

该数据集由LeRobot创建，用于机器人学任务。它包含20个episodes，总计15608帧数据，数据以parquet格式存储，视频文件为mp4格式，帧率为30fps。数据集的特征包括：动作数据（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、状态观测（相同6个关节位置）、手腕摄像头图像（480x640分辨率，RGB视频）和前方摄像头图像（相同分辨率）。此外，还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集主要用于训练和评估机器人控制模型，覆盖了机器人的动作、状态和视觉观测信息。This dataset was created using LeRobot and is intended for robotics tasks. It consists of 20 episodes with a total of 15608 frames, stored in parquet format, and includes video files in mp4 format at 30fps. The dataset features action data (6 joint positions: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper position), observation state (same 6 joint positions), wrist camera images (480x640 resolution, RGB video), and front camera images (same resolution). Additionally, it contains metadata such as timestamp, frame index, episode index, and task index. The dataset is designed for training and evaluating robot control models, encompassing action, state, and visual observation information.