jio2/clean_desk_pi

该数据集是使用LeRobot创建的机器人学数据集，主要用于机器人控制和学习任务。数据集包含302个episodes，总计173215帧，帧率为25fps。数据特征包括：动作数据（action），包含左右机械臂的12个关节位置（如肩部、肘部、手腕和夹爪的位置）；观察状态（observation.state），同样包含12个关节位置；以及多个视角的图像观察（observation.images），包括左上、左右手腕等视角的视频数据，视频分辨率为480x640或720x1280，编码为av1格式。此外，数据集还包含时间戳、帧索引、episode索引等元数据。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为bi_so_follower，适用于训练和验证机器人控制模型。This dataset was created using LeRobot and is designed for robotics tasks. It consists of 302 episodes with a total of 173,215 frames at 25 fps. The features include: action data comprising 12 joint positions for both left and right robotic arms (e.g., shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions); observation state with the same 12 joint positions; and multiple image observations from various perspectives (e.g., left top, left left wrist, right right wrist) as video data with resolutions of 480x640 or 720x1280, encoded in av1 format. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet format, with a total data file size of 100 MB and video file size of 200 MB. The robot type is bi_so_follower, suitable for training and validating robot control models.