piper-handover-20260624

该数据集是通过LeRobot创建的机器人数据集，专门用于机器人技术任务。它包含26个总片段，总计40477帧，数据以20帧每秒的速率采集，使用AgileX Piper双手机器人，涉及一个总任务。数据集结构丰富，包括观察状态（如14个关节和夹爪的浮点数据）、动作数据（与观察状态相同维度）、以及来自前、左、右三个摄像头的图像观察（分辨率为480x640，3通道，视频编码为av1）。此外，还包含时间戳、帧索引、片段索引、索引和任务索引等元数据。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人学习和控制研究。

This dataset is created through LeRobot and is specifically designed for robotics tasks. It contains a total of 26 episodes, comprising 40,477 frames collected at a rate of 20 frames per second. It utilizes the AgileX Piper dual-arm robot and involves one overall task. The dataset has a rich structure, including observation states (such as floating-point data for 14 joints and grippers), action data (with the same dimensions as the observation states), and image observations from front, left, and right cameras (with a resolution of 480x640, 3 channels, and video encoding as av1). Additionally, it includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The data is stored in Parquet format, with a total data file size of 100MB and a video file size of 200MB, making it suitable for robot learning and control research.