KS325/open-upper-drawer-r2-occ-train-spare

该数据集由LeRobot创建，用于机器人操作任务，具体任务是打开上层抽屉。数据集包含14个训练episodes，总计10199帧，帧率为30fps。数据以parquet文件格式存储，视频以mp4格式存储。数据集特征包括：6维动作空间（控制肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、6维状态观测（与动作空间相同的关节位置）、两个摄像头图像观测（camera1和camera2，分辨率均为480x640x3，视频编码为av1），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集适用于机器人学习研究，特别是模仿学习或强化学习任务。

This dataset was developed by LeRobot for robotic manipulation tasks, specifically the task of opening an upper drawer. It contains 14 training episodes, totaling 10199 frames with a frame rate of 30 fps. The structured data of the dataset is stored in Parquet file format, while the videos are saved in MP4 format. The dataset features include: a 6-dimensional action space that controls shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position; a 6-dimensional state observation with joint positions consistent with those in the action space; two camera image observations (camera1 and camera2, both with a resolution of 480×640×3, and the video is encoded in AV1); as well as metadata such as timestamps, frame index, episode index, and task index. This dataset is applicable to robotic learning research, particularly for imitation learning or reinforcement learning tasks.