wangshuai2003/shouna-100

该数据集由LeRobot创建，是一个机器人控制数据集，专门用于so101_follower机器人。数据集包含100个完整的任务片段（episodes），总计100,890帧数据，全部用于训练。数据集中包含机器人的动作指令（包括肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置共6个自由度）、观测状态（与动作相同的6个关节位置）、以及来自顶部和腕部摄像头的视频观测（分辨率480x640，30帧/秒，RGB格式）。此外，数据集还提供了时间戳、帧索引、片段索引和任务索引等元数据，用于时序跟踪。数据以Parquet格式存储，视频以MP4格式存储，总数据大小约100MB，视频大小约200MB。

This dataset was created using LeRobot and is a robotics control dataset specifically for the so101_follower robot. It contains 100 total episodes, with 100,890 total frames, all designated for training. The dataset includes robot actions (with 6 degrees of freedom: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions), observation states (the same 6 joint positions), and video observations from top and wrist cameras (resolution 480x640, 30 fps, RGB format). Additionally, it provides metadata such as timestamp, frame index, episode index, and task index for temporal tracking. Data is stored in Parquet format, videos in MP4 format, with a total data size of approximately 100 MB and video size of approximately 200 MB.