junpark-ai/buckle2jh

该数据集是一个机器人学数据集，使用Physical AI Tools和LeRobot工具创建，专注于双臂机器人（型号为ffw_bg2_rev4_arms_only）的交互数据。数据集包含51个episodes，总计8944帧，帧率为30fps，涉及1个任务和153个视频。数据以parquet文件格式存储，视频为mp4格式。特征包括时间戳、帧索引、episode索引、任务索引，以及观测数据：头部摄像头图像（分辨率376x672）、左右手腕摄像头图像（分辨率均为240x424），以及16个关节的状态（包括左右臂各7个关节和左右抓手各1个关节）。动作数据同样包含16个关节的动作值。该数据集适用于机器人控制、视觉感知和强化学习等研究，支持训练和评估机器人双臂协同操作任务。This dataset is a robotics dataset created using Physical AI Tools and LeRobot, focusing on interaction data for a dual-arm robot (model ffw_bg2_rev4_arms_only). It includes 51 episodes, totaling 8944 frames at 30fps, with 1 task and 153 videos. The data is stored in parquet files, and videos are in mp4 format. Features include timestamps, frame indices, episode indices, task indices, and observations: head camera images (resolution 376x672), left and right wrist camera images (both 240x424 resolution), and the state of 16 joints (including 7 joints per arm and 1 gripper per arm). Action data also includes 16 joint action values. The dataset is suitable for research in robot control, visual perception, and reinforcement learning, supporting training and evaluation of dual-arm cooperative manipulation tasks.