rainbowrobotics/simtos_0412_mirror_v2_mask

该数据集是一个机器人学数据集，使用LeRobot创建，专注于双臂机器人（rby1类型）的操作任务。数据集包含1041个episodes和212780帧数据，采样频率为15fps。特征包括16维的动作和观测状态（对应右臂、左臂各7个关节和左右夹爪各1个自由度），以及来自前、右、左三个视角的图像观测（视频格式，分辨率分别为480x640和640x480，编码为av1）。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据以parquet和mp4视频文件存储，总数据大小约为100MB，视频文件大小约为200MB，用于训练机器人控制模型。This is a robotics dataset developed using LeRobot, focusing on manipulation tasks for dual-arm robots of type rby1. The dataset comprises 1041 episodes and 212780 frames, with a sampling rate of 15 fps. Its features include 16-dimensional action and observation states, which correspond to 7 joints for each of the right and left arms, plus 1 degree of freedom for each of the left and right grippers. Additionally, it provides image observations from three viewpoints: front, right, and left, with video resolutions of 480×640 and 640×480, encoded in AV1 format. Metadata including timestamps, frame indices, episode indices, indices, and task indices is also included. The data is stored in Parquet and MP4 video files, with a total data size of approximately 100 MB, and the video files alone totaling about 200 MB. This dataset is designed for training robotic control models.