so101_handshake

该数据集是一个机器人数据集，使用LeRobot创建。它包含20个集，总计7762帧，涉及一个任务，机器人类型为so_follower。数据集以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。特征包括6维动作向量（控制机器人关节位置，如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）和6维观察状态向量（与动作向量相同）。观察图像来自前摄像头，分辨率为480x640，3通道（RGB），视频编码为av1，像素格式为yuv420p，无音频。此外，还包括时间戳、帧索引、集索引、索引和任务索引等元数据。数据集仅包含训练分割，覆盖所有集。This dataset is a robotics dataset created using LeRobot. It contains 20 episodes, totaling 7762 frames, involving one task, with a robot type of so_follower. The dataset is stored in parquet file format, with a total data file size of 100MB, video file size of 200MB, and a frame rate of 30fps. Features include a 6-dimensional action vector (controlling robot joint positions, such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and a 6-dimensional observation state vector (same as the action vector). Observation images come from a front camera with a resolution of 480x640, 3 channels (RGB), video encoding as av1, pixel format as yuv420p, and no audio. Additionally, metadata such as timestamps, frame index, episode index, index, and task index are included. The dataset only contains a training split, covering all episodes.