chomeed/dexmg_two_arm_threading

该数据集是一个机器人学习数据集，使用LeRobot工具创建。它包含1025个episodes和218858帧数据，帧率为20fps。数据集特征包括：奖励值（float32）、完成标志（bool）、多个视角的图像观察（如agentview和两个机器人手眼相机图像，均为84x84 RGB视频）、机器人状态（18维，包括两个机器人的末端执行器位置、四元数姿态和夹爪位置）、动作（14维控制指令，包括左右机器人的平移、旋转和夹爪控制）、时间戳、帧索引、episode索引等。数据以parquet格式存储，视频以mp4格式存储，适用于机器人强化学习或模仿学习任务。This dataset is a robotics learning dataset created using the LeRobot tool. It contains 1025 episodes and 218858 frames with a frame rate of 20fps. The dataset features include: reward values (float32), done flags (bool), multiple view image observations (e.g., agentview and two robot eye-in-hand camera images, all as 84x84 RGB videos), robot states (18-dimensional, including end-effector positions, quaternion poses, and gripper positions for two robots), actions (14-dimensional control commands for left and right robots covering translation, rotation, and gripper control), timestamps, frame indices, episode indices, etc. Data is stored in parquet format and videos in mp4 format, suitable for robot reinforcement learning or imitation learning tasks.