pyrrosk/aloha_blocks_sim

该数据集使用LeRobot创建，专注于机器人学任务，具体涉及ALOHA机器人系统。数据集包含114个episodes，总计139328帧，帧率为30fps，仅涵盖一个任务。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。特征包括观察状态（14维浮点数组，表示左右机械臂的关节位置，如腰部、肩部、肘部等）、动作（同样14维浮点数组）、以及三个视频观察：顶部摄像头、左腕摄像头和右腕摄像头（均为224x224分辨率、3通道的H.264编码视频）。此外，还包括时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制、模仿学习等研究。

This dataset was created using LeRobot and focuses on robotics tasks, specifically involving the ALOHA robot system. It contains 114 episodes with a total of 139,328 frames at 30 fps, covering only one task. The data is stored in parquet format, with a total data file size of 100 MB and video file size of 200 MB. Features include observation state (a 14-dimensional float32 array representing joint positions of left and right robot arms, such as waist, shoulder, elbow, etc.), action (similarly a 14-dimensional float32 array), and three video observations: top camera, left wrist camera, and right wrist camera (all H.264 encoded videos with 224x224 resolution and 3 channels). Additionally, metadata such as timestamp, frame index, and episode index are included. The dataset is suitable for research in robot control, imitation learning, and related areas.