CoRL2026-CSI/SO101-PlaceSpoon_Ours_100epi

该数据集是一个用于机器人学的数据集，由LeRobot创建，专注于so101机器人的place-spoon任务（放置勺子）。数据集包含100个训练episodes，总计35546帧，数据以parquet文件格式存储。它提供了丰富的多模态信息，包括机器人的状态观测（6个关节位置）、动作控制、来自顶部和左腕摄像头的视频观测（分辨率480x640，10fps）、末端执行器位置（XYZRPY坐标系）、二进制夹爪状态、技能和子任务的自然语言描述、验证问题、技能类型和进度、目标位置（关节和笛卡尔坐标），以及时间戳、帧索引、episode索引等元数据。机器人类型为so101_follower，适用于机器人控制和学习任务。This dataset is a robotics dataset created by LeRobot, focusing on the place-spoon task for the so101 robot. It contains 100 training episodes with a total of 35,546 frames, stored in parquet format. The dataset provides rich multimodal information, including robot state observations (6 joint positions), action controls, video observations from top and left wrist cameras (resolution 480x640, 10fps), end-effector positions (XYZRPY coordinates), binary gripper state, natural language descriptions for skills and subtasks, verification questions, skill types and progress, goal positions (joint and Cartesian coordinates), as well as metadata such as timestamps, frame indices, and episode indices. The robot type is so101_follower, suitable for robot control and learning tasks.