SortPaper_20260513_162424

该数据集是使用LeRobot创建的机器人数据集，专门用于机器人学习任务。数据集包含一个episode，总共有853帧数据，帧率为30fps。数据特征包括：动作（action），由6个浮点值组成，分别对应机器人关节的位置（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）；观察状态（observation.state），同样包含6个浮点值，表示机器人关节的当前状态；两个摄像头观察（observation.images.front和observation.images.top），均为视频数据，分辨率为480x640，3个颜色通道，使用AV1编码，帧率30fps，无音频。此外，数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集适用于机器人控制、视觉导航等任务。

This robotic dataset was developed using LeRobot, specifically tailored for robotics learning tasks. The dataset contains a single episode, with a total of 853 frames at a frame rate of 30fps. The data features are as follows: the action, composed of 6 floating-point values corresponding to the positions of the robot's joints (shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position); the observation state (observation.state), which also includes 6 floating-point values representing the current states of the robot's joints; two camera observations (observation.images.front and observation.images.top), both in video format, with a resolution of 480×640, 3 color channels, encoded with AV1, a frame rate of 30fps, and no audio. Additionally, the dataset contains metadata including timestamps, frame indices, episode indices, and task indices. The structured data is stored in Parquet format, while the video data is stored in MP4 format. The total size of the structured data files is 100MB, and the total size of the video files is 200MB. This dataset is suitable for tasks such as robot control and visual navigation.