rainbowrobotics/icra_0526_bottle_20260526_173850

该数据集是一个机器人操作数据集，使用LeRobot工具创建。它包含了双臂机器人（型号为rby1）在执行任务时的动作和状态观测数据。具体特征包括：16维的动作向量（对应右臂7个关节、左臂7个关节以及两个夹爪的控制），16维的状态观测向量（与动作向量结构相同），以及来自前、右、左三个视角的视频观测数据（前视角分辨率为480x640，右和左视角分辨率为640x480，均为彩色视频，帧率15fps）。数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集总共有201个episodes，77294帧，数据以parquet格式存储，视频以mp4格式存储，所有数据均用于训练。This dataset is a robotic manipulation dataset created using the LeRobot tool. It contains action and state observation data from a dual-arm robot (model rby1) during task execution. Specific features include: a 16-dimensional action vector (corresponding to control of 7 joints for the right arm, 7 joints for the left arm, and two grippers), a 16-dimensional state observation vector (with the same structure as the action vector), and video observation data from front, right, and left perspectives (front view resolution 480x640, right and left views resolution 640x480, all color videos at 15fps). The dataset also includes metadata such as timestamp, frame index, episode index, index, and task index. The dataset totals 201 episodes and 77,294 frames, stored in parquet format for data and mp4 for videos, with all data used for training.