aaawangge/so101_bimanual_towel_horizontal

这是一个使用LeRobot创建的机器人数据集，专门针对双机械臂（bi_so_follower机器人类型）设计。数据集包含181个episodes和207,844帧，帧率为30 FPS。数据特征包括动作（12维关节位置，对应左右机械臂的肩部、肘部、腕部和夹爪位置）、观察（状态和四个摄像头图像：left_left、left_top、right_front、right_right，每个图像分辨率为480x640，3通道彩色视频）以及补充信息（如策略动作、干预状态、收集器策略ID等）。数据集以Parquet文件格式存储，视频为MP4格式，总数据大小约100MB，视频大小约200MB，适用于机器人学习和控制任务。

This is a robotics dataset created using LeRobot, specifically designed for a dual-arm robot (bi_so_follower robot type). The dataset contains 181 episodes and 207,844 frames with a frame rate of 30 FPS. Features include actions (12-dimensional joint positions for left and right arms, covering shoulder, elbow, wrist, and gripper positions), observations (state and four camera images: left_left, left_top, right_front, right_right, each with a resolution of 480x640 and 3-channel color video), and complementary information (such as policy action, intervention status, collector policy ID, etc.). The dataset is stored in Parquet file format, with videos in MP4 format, totaling approximately 100MB for data and 200MB for videos, suitable for robot learning and control tasks.