jio2/fold_bag_20260526_215948

该数据集是一个机器人数据集，使用LeRobot创建，专注于双机械臂（bi_so_follower类型）的演示数据。它包含18个episodes，总计59712帧，数据以30fps的帧率采集。数据集的结构包括动作（action）和观察（observation）特征：动作由12个浮点数值组成，代表左右机械臂的关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）。观察包括状态（同样为12个关节位置）和来自三个摄像头的图像视频：左左腕部（left_left_wrist）、左顶部（left_top）和右右腕部（right_right_wrist），每个视频的分辨率为720x1280，3通道（RGB），使用av1编解码器。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。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。数据集用于机器人学习任务，如模仿学习或强化学习。This dataset is a robotic dataset developed using LeRobot, focusing on demonstration data for dual-manipulator systems of the bi_so_follower type. It contains 18 episodes, totaling 59,712 frames, collected at a frame rate of 30 fps. The dataset structure includes action and observation features: The action is composed of 12 floating-point values, representing the joint positions of the left and right manipulators, including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observations comprise state data (also 12 joint positions) and image videos from three cameras: left_left_wrist, left_top, and right_right_wrist. Each video has a resolution of 720x1280, 3 RGB channels, and uses the av1 codec. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB. This dataset is designed for robotic learning tasks such as imitation learning or reinforcement learning.