CoRL2026-CSI/SO101-Openlid_Ours_100epi_fixed

该数据集是一个机器人数据集，使用LeRobot工具创建，专门针对so101_follower机器人类型。数据集包含100个episodes，总计33608帧，数据以parquet文件格式存储，视频以mp4格式存储，帧率为10fps。数据集包含多种特征，包括机器人状态观测（如关节位置）、动作指令、图像观测（来自顶部和左腕摄像头的RGB视频，分辨率为480x640）、末端执行器位置（以XYZRPY坐标表示）、技能信息（如自然语言描述、验证问题、类型、进度和目标位置）、子任务信息（如自然语言描述、对象名称和目标位置）以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人学习和控制任务，许可证为Apache-2.0。This is a robotic dataset developed with the LeRobot toolkit, tailored specifically for the so101_follower robot platform. It contains 100 episodes, amounting to a total of 33608 frames. Numerical data of the dataset is stored in Parquet format, while video data is saved in MP4 format at a frame rate of 10fps. The dataset encompasses various features: robotic state observations (e.g., joint positions), action commands, image observations (RGB videos captured by the top and left-wrist cameras with a resolution of 480x640), end-effector positions represented in XYZRPY coordinates, skill-related information (including natural language descriptions, validation questions, skill types, progress status and target positions), subtask-related information (including natural language descriptions, object names and target positions), as well as metadata such as timestamps, frame indices and episode indices. This dataset is applicable to robotic learning and control tasks, and is released under the Apache-2.0 license.