CoRL2026-CSI/SO101-SortBlock_Ours_100epi

该数据集是使用LeRobot创建的机器人控制数据集，专门用于机器人学习和任务执行研究。数据集包含100个训练集，总计94144帧，采样率为10fps。数据来自so101_follower机器人，涵盖了多种传感器观测和动作信息。具体特征包括：机器人关节状态（6维浮点数）、动作指令（6维浮点数）、顶部和左腕摄像头图像（480x640 RGB视频）、末端执行器位置和姿态（6维浮点数）、二值化夹爪状态、技能自然语言描述、验证问题、技能类型、进度、目标位置（关节和笛卡尔坐标）、子任务自然语言描述、对象名称、目标位置、时间戳、帧索引、集索引、索引和任务索引。数据集结构以parquet文件格式存储，并包含视频文件，适用于机器人控制、模仿学习、强化学习等任务。This dataset is a robotics control dataset created using LeRobot, designed for robot learning and task execution research. It contains 100 episodes for training, totaling 94,144 frames at a sampling rate of 10fps. The data originates from the so101_follower robot and includes various sensor observations and action information. Key features encompass: robot joint states (6-dimensional float32), action commands (6-dimensional float32), top and left wrist camera images (480x640 RGB video), end-effector position and orientation (6-dimensional float32), binary gripper state, skill natural language descriptions, verification questions, skill types, progress, goal positions (joint and Cartesian coordinates), subtask natural language descriptions, object names, target positions, timestamps, frame indices, episode indices, indices, and task indices. The dataset is structured in parquet file format with accompanying video files, suitable for robotics control, imitation learning, reinforcement learning, and related tasks.