CoRL2026-CSI/SO101_teleop_close_drawer_100epi_wristfix_30epi_8to2

该数据集由LeRobot创建，专注于机器人操作任务，具体为关闭抽屉的遥操作。数据集包含30个episodes，总计4655帧，数据以parquet文件格式存储，视频以mp4格式存储。特征包括机器人的动作（6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（相同的6个关节位置）、两个摄像头视角的图像（左腕摄像头和俯视摄像头，均为480x640分辨率、30fps的彩色视频），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集适用于机器人学习、模仿学习或强化学习研究，用于训练和评估关闭抽屉任务的模型。This dataset was created using LeRobot and focuses on robotic manipulation tasks, specifically teleoperation for closing a drawer. It contains 30 episodes with a total of 4655 frames, stored in parquet format for data and mp4 format for videos. Features include robot actions (6 joint positions: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper position), observation states (the same 6 joint positions), images from two camera views (left wrist and top view, both as 480x640 resolution, 30fps color videos), and metadata such as timestamp, frame index, episode index, and task index. The dataset is suitable for robotics learning, imitation learning, or reinforcement learning research to train and evaluate models for drawer-closing tasks.