DAVIAN-Robotics/mh_tasks

该数据集是一个机器人任务数据集，使用LeRobot框架创建，专门针对Franka机器人。它包含100个完整的任务执行序列（episodes），总计29,876帧数据，覆盖10种不同的任务。数据集中包含丰富的多模态信息：机器人状态观测（如关节位置和速度、末端执行器的位置和姿态、夹爪位置和抓取状态）、动作指令（末端位置、姿态和夹爪控制）、以及来自三个摄像头的视频观测（左后、腕部和右后摄像头，均为RGB视频，分辨率480x640，帧率20fps）。此外，还包括时间戳、帧索引、episode索引和任务索引等元数据。数据以parquet格式存储，视频以MP4格式存储，适用于机器人学习、模仿学习或强化学习等研究。This dataset is a robotics task dataset created using the LeRobot framework, specifically for the Franka robot. It contains 100 complete task execution episodes, totaling 29,876 frames, covering 10 different tasks. The dataset includes rich multimodal information: robot state observations (such as joint positions and velocities, end-effector position and orientation, gripper position and grasp state), action commands (end-effector position, orientation, and gripper control), and video observations from three cameras (left back, wrist, and right back, all RGB videos with 480x640 resolution and 20fps). Additionally, it includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in parquet format, with videos in MP4 format, suitable for research in robotics learning, imitation learning, or reinforcement learning.