CarlosMunoz0/vla-mujoco-so101-merged-4-tasks-v2.1

该数据集是一个机器人操作数据集，使用LeRobot工具创建，专注于so101_mujoco机器人类型。数据集包含400个episodes，总计433,506帧，覆盖4个不同任务。数据以parquet文件格式存储，总数据大小为100MB，视频文件大小为200MB，帧率为30fps。数据集仅包含训练集（episode 0到400）。主要特征包括：动作数据（6维浮点数组，表示机器人关节位置，如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（同样6维浮点数组，表示机器人当前状态）、两个摄像头图像（realsense和wrist_cam，均为480x640分辨率的RGB视频，编码为av1，无音频），以及时间戳、帧索引、episode索引、任务索引等元数据。该数据集适用于机器人学习、强化学习或计算机视觉任务的研究和开发。

This dataset is a robotics manipulation dataset created using the LeRobot tool, focusing on the so101_mujoco robot type. It contains 400 episodes with a total of 433,506 frames, covering 4 distinct tasks. The data is stored in parquet format, with a total data size of 100MB and video files size of 200MB, at a frame rate of 30fps. The dataset includes only a training set (episodes 0 to 400). Key features include: action data (a 6-dimensional float32 array representing robot joint positions such as shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions), observation state (a similar 6-dimensional float32 array for the current robot state), two camera images (realsense and wrist_cam, both RGB videos at 480x640 resolution, encoded in av1 with no audio), and metadata such as timestamp, frame index, episode index, and task index. This dataset is suitable for research and development in robotics learning, reinforcement learning, or computer vision tasks.