axiboai/piper-stack-umi-v0

该数据集使用LeRobot创建，是一个机器人领域的演示数据集。它包含400个episodes，总计222082帧，数据以parquet格式存储。数据集提供了丰富的观察特征，包括三个摄像头的RGB图像（分辨率224x224x3，50fps）和对应的深度图像，以及机械臂末端执行器的位置、旋转（轴角表示）、夹爪宽度等动作数据。此外，还包含元数据如演示者ID、工作站ID、任务变体、毛巾ID、光照条件、垫子ID、成功标志和笔记。数据集结构支持训练分割，特征详细描述了数据类型和形状，适用于机器人学习和模仿学习任务。

This dataset was created using LeRobot and belongs to the robotics domain. It contains 400 episodes with a total of 222,082 frames, stored in parquet format. The dataset includes multiple observation features such as images from three cameras (camera0, camera1, camera2) and depth images, as well as action data like end-effector position, rotation, and gripper width. Additionally, it incorporates metadata such as demonstrator ID, station ID, task variant, towel ID, lighting conditions, mat ID, success flag, and notes. All data is captured at 50fps with image resolution of 224x224x3. The dataset structure details the data types, shapes, and names of features, supporting training splits for robot learning and imitation learning tasks.