rainbowrobotics/icra_0522_rel

该数据集是一个机器人学数据集，使用LeRobot创建。它包含双臂机器人（类型为rby1）的动作和观察数据。动作数据包括16个维度的浮点数，代表右臂和左臂的关节位置以及夹爪状态。观察数据包括状态观察（同样为16维关节位置）和图像观察，图像来自三个摄像头：前摄像头（分辨率480x640）、右摄像头和左摄像头（分辨率均为640x480），均为彩色视频（3通道），帧率为15fps。数据集还包含时间戳、帧索引、episode索引等元数据。总共有776个episodes，164448帧，1个任务，数据以parquet文件和视频文件形式存储，总数据大小约300MB（数据文件100MB，视频文件200MB）。This dataset is a robotics dataset created using LeRobot. It contains action and observation data for a dual-arm robot (type rby1). Action data includes 16-dimensional floating-point values representing joint positions for the right and left arms, as well as gripper states. Observation data includes state observations (also 16-dimensional joint positions) and image observations from three cameras: front camera (resolution 480x640), right camera, and left camera (both with resolution 640x480), all in color video (3 channels) with a frame rate of 15fps. The dataset also includes metadata such as timestamps, frame indices, and episode indices. There are a total of 776 episodes, 164448 frames, and 1 task, stored in parquet files and video files, with a total data size of approximately 300MB (100MB for data files and 200MB for video files).