LSGOURI/smolvla_CUBEISGREEN1

该数据集是使用LeRobot创建的机器人数据集，专门用于机器人控制任务。数据集包含50个完整的情节（episodes），总计24746帧数据，帧率为30fps。数据集中记录了so100_follower类型机器人的状态和动作信息，具体特征包括：动作（action）为6个浮点数表示的关节位置（肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转、夹爪位置）；观察状态（observation.state）同样为6个浮点数表示的关节位置；观察图像包括前视摄像头（front）和腕部摄像头（wrist）的视频数据，分辨率均为480x640，3通道彩色图像，视频编码为av1。此外，数据集还包含时间戳、帧索引、情节索引、任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为500MB。数据集仅包含训练集（splits为train:0:50），适用于机器人学习、模仿学习或强化学习等任务。This dataset is a robotics dataset created using LeRobot, specifically designed for robot control tasks. It contains 50 complete episodes with a total of 24,746 frames at a frame rate of 30 fps. The dataset records state and action information for a so100_follower type robot. Key features include: action as 6 floating-point numbers representing joint positions (shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, gripper); observation.state as 6 floating-point numbers for joint positions; observation images from front and wrist cameras, both with video data at 480x640 resolution, 3-channel color, encoded in av1. Additionally, the dataset includes metadata such as timestamp, frame index, episode index, and task index. Data is stored in parquet files, videos in mp4 format, with total data file size of 100 MB and video file size of 500 MB. The dataset only includes a training set (splits: train:0:50) and is suitable for tasks like robot learning, imitation learning, or reinforcement learning.