lego_20260724_155332

该数据集是一个基于LeRobot工具创建的机器人学数据集，专用于机器人控制和学习任务。数据集内容包括：动作数据，为6维浮点数组，分别对应肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置；观测状态数据，同样为6维浮点数组，反映机器人的关节位置。此外，提供两个视角的视频图像观测：Top视角（分辨率360x640，3通道）和Hand视角（分辨率480x640，3通道），均以30fps的av1编码视频格式存储。其他元数据包括时间戳、帧索引、episode索引、任务索引等。数据集总共有6个episodes、3906帧和1个任务，数据以parquet文件组织，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为so_follower，并包含训练集划分。This is a robotics dataset created using the LeRobot tool, specifically designed for robotic control and learning tasks. The dataset contains robotic action and observation data: the action data is a 6-dimensional floating-point array, corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper position; the observation state data is also a 6-dimensional floating-point array, reflecting the joint positions of the robot. In addition, the dataset provides video image observations from two perspectives: Top view (resolution 360x640, 3 channels) and Hand view (resolution 480x640, 3 channels), both stored in av1-encoded video format at 30fps. Other metadata includes timestamps, frame indices, episode indices, task indices, etc. The dataset has a total of 6 episodes, 3906 frames and 1 task. The data is organized in parquet files, with a total data file size of 100 MB and a video file size of 200 MB. The robot type is 'so_follower', and a training set split is included.