robot-learning/ex1_all_v4

该数据集是使用LeRobot工具创建的机器人学习数据集，专门针对so_follower类型的机器人。数据集包含293个episodes，总计153,367帧数据，覆盖3个不同的任务。数据以30fps的帧率采集，所有数据均用于训练集。数据集结构包括以下关键特征：动作空间包含6维关节位置（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）；观测状态同样包含6维关节位置；前视图像观测为480x640分辨率的RGB视频（3通道）。此外，还包含时间戳、帧索引、episode索引、全局索引和任务索引等元数据。数据以parquet文件格式存储，视频文件以mp4格式存储，总数据文件大小约为100MB，视频文件大小约为200MB。This dataset is a robotic learning dataset created with the LeRobot tool, specifically tailored for so_follower-type robots. It contains 293 episodes, totaling 153,367 frames of data across 3 distinct tasks. Data was collected at a frame rate of 30 fps, and all data is used for the training set. The dataset structure includes the following key characteristics: the action space consists of 6-dimensional joint positions (shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position); the observation state also includes 6-dimensional joint positions; the front-view image observation is a 480x640 resolution RGB video with 3 channels. Additionally, metadata such as timestamps, frame indices, episode indices, global indices, and task indices are included. The data is stored in Parquet file format, while the video files are stored in MP4 format. The total size of the data files is approximately 100 MB, and the total size of the video files is approximately 200 MB.