CoRL2026-CSI/SO101-cap_open_topdrawer_10fps_50epi_8to2

该数据集是一个机器人学习数据集，使用LeRobot工具创建，专门用于机器人控制任务。数据集包含50个训练集，总计14,571帧，帧率为10fps。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集针对SO101跟随者机器人类型设计，特征包括机器人的状态观测（如关节位置、末端执行器位置和姿态）、动作指令、来自顶部和左腕摄像头的图像观测、技能信息（如自然语言描述、验证问题、类型、进度和目标位置）、子任务信息（如自然语言描述、对象名称和目标位置），以及时间戳、帧索引、集索引等元数据。这些数据适用于机器人模仿学习、强化学习或行为克隆等任务。This dataset is a robotics learning dataset created using the LeRobot tool, specifically designed for robot control tasks. It contains 50 training episodes with a total of 14,571 frames at a frame rate of 10fps. The data is stored in parquet format, with a total data file size of 100MB and video file size of 200MB. The dataset is tailored for the SO101 follower robot type and includes features such as robot state observations (e.g., joint positions, end-effector positions and orientations), action commands, image observations from top and left wrist cameras, skill information (e.g., natural language descriptions, verification questions, types, progress, and goal positions), subtask information (e.g., natural language descriptions, object names, and target positions), as well as metadata like timestamps, frame indices, and episode indices. This data is suitable for tasks such as robot imitation learning, reinforcement learning, or behavior cloning.