DAVIAN-Robotics/ppp_v1

该数据集是一个机器人操作数据集，由LeRobot创建。包含242个操作片段(episodes)，总计90989帧数据，覆盖11个不同任务。数据集记录了Franka机器人的状态信息（包括29维关节位置、速度、末端执行器位姿等）、7维动作指令、以及来自左后、右后和腕部摄像头的视频数据（480x640分辨率，20fps）。数据以parquet格式存储，总数据量约300MB（100MB数据文件+200MB视频文件）。数据集采用Apache 2.0开源协议。

This is a robotic manipulation dataset created by LeRobot. It contains 242 episodes with a total of 90,989 frames covering 11 different tasks. The dataset records Franka robot state information (including 29-dimensional joint positions, velocities, end-effector poses, etc.), 7-dimensional action commands, and video data from left-back, right-back, and wrist cameras (480x640 resolution, 20fps). The data is stored in parquet format, with a total size of approximately 300MB (100MB data files + 200MB video files). The dataset is licensed under Apache 2.0.