aShunSasaki/so101_pp_stationery_5obj_color_select_v4

该数据集是一个机器人学数据集，使用LeRobot平台创建。它包含356个episodes，总计244,151帧，覆盖5个不同任务。数据以30 FPS的帧率采集，包括动作、观测状态和观测图像等多模态特征。动作和观测状态均包含6个浮点型关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）。观测图像来自手腕摄像头，分辨率为1280x720，3通道彩色视频，采用AV1编码。数据集还包含时间戳、帧索引、episode索引和任务索引等元数据。数据文件总大小为100 MB，视频文件总大小为200 MB，存储为parquet格式，并分割为训练集（所有episodes）。机器人类型为“so_follower”。This dataset is a robotics dataset created using the LeRobot platform. It consists of 356 episodes, totaling 244,151 frames, and covers 5 distinct tasks. Data is collected at 30 FPS and includes multimodal features such as actions, observation states, and observation images. Both actions and observation states contain 6 floating-point joint positions (e.g., shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions). Observation images are from a wrist camera with a resolution of 1280x720, 3-channel color video, encoded in AV1. The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. The total data file size is 100 MB, and the total video file size is 200 MB, stored in parquet format, with a split for training (all episodes). The robot type is so_follower.