资源简介：
该数据集是一个机器人控制数据集，使用LeRobot（版本v3.0）创建，专注于机器人任务执行。数据集包含机器人类型为so_follower的2个完整episodes，总计842帧，对应1个任务。数据以parquet文件格式存储，视频文件以MP4格式存储，帧率为30fps。数据集的特征包括：动作（action）和观测状态（observation.state），均为6维浮点数组，表示机器人关节位置（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）；观测图像包括侧面视角（observation.images.side）、腕部视角（observation.images.wrist）和轨迹视角（observation.images.trajectory）的视频数据，分辨率为480x640，3通道，使用av1编码。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。总数据文件大小为100MB，视频文件大小为200MB，适用于机器人学习、控制策略训练等研究。
This is a robotic control dataset created using LeRobot (version v3.0), focused on robotic task execution. It contains 2 complete episodes for the so_follower robot type, with a total of 842 frames corresponding to one single task. The dataset metadata is stored in Parquet file format, while the video data is packaged in MP4 containers with a frame rate of 30 fps. Core features of the dataset include: action and observation.state, both 6-dimensional floating-point arrays that represent the robot's joint positions, including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position; the observation images consist of video data from three perspectives: observation.images.side (side view), observation.images.wrist (wrist-mounted view), and observation.images.trajectory (trajectory view), with a resolution of 480×640, 3 color channels, and encoded using AV1. Additional metadata includes timestamps, frame index, episode index, sample index, and task index. The total size of the dataset files is 100 MB, and the total size of the video files is 200 MB. This dataset is suitable for research in robotic learning, control policy training, and other related fields.
