CoRL2026-CSI/UR7e_Pnp_phase1_80epi
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于UR7e机器人。数据集包含80个episodes，总计20403个frames，涉及1个任务。数据以parquet文件格式存储，并包括多个特征：机器人状态观察（如关节位置）、动作控制、来自手腕和顶部视角摄像头的图像视频（分辨率为480x640，帧率10fps）、技能类型和进度、目标位置（包括关节和世界坐标系下的位置）、自然语言指令，以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制、模仿学习等研究任务。
This dataset is a robotics dataset created using the LeRobot tool, focusing on the UR7e robot. It contains 80 episodes, totaling 20403 frames, and involves 1 task. The data is stored in parquet format and includes multiple features: robot state observations (e.g., joint positions), action controls, image videos from wrist and top-view cameras (resolution 480x640, frame rate 10fps), skill types and progress, goal positions (including joint and world coordinate positions), natural language instructions, and metadata such as timestamps, frame indices, and episode indices. The dataset is suitable for research tasks like robot control and imitation learning.
