ICRA-2026-RAMEN/airoa-public-filter-noeval

这是一个质量过滤的子集，源自AIROA HSR模仿学习数据集，并转换为LeRobot v3格式。数据集包含丰田Human Support Robot (HSR)的3,609个总片段，949,465个总帧数，帧率为10 FPS。动作空间为11维复合向量，包括手臂、手腕、头部和基座的动作信号。数据集提供了手部和头部的摄像头视频，帧率为10 FPS。质量过滤标准包括伺服运动过滤和视频质量控制过滤，确保机器人实际移动且视频质量符合标准。数据集遵循LeRobot v3格式，存储为分块Parquet文件。此外，移除了18个与公共任务评估数据集重叠的片段，并对32D布局进行了调整以适应特定检查点需求。A quality-filtered subset of the AIROA HSR imitation-learning dataset, converted to LeRobot v3 format. The dataset includes 3,609 total episodes and 949,465 total frames from the Toyota Human Support Robot (HSR) with a frame rate of 10 FPS. The action space is an 11-dimensional composite vector comprising signals from the arm, wrist, head, and base. The dataset provides video feeds from hand and head cameras at 10 FPS. Quality filtering criteria include servo motion filtering and video quality control filtering to ensure actual robot movement and video quality standards. The dataset follows the LeRobot v3 format, stored as chunked Parquet files. Additionally, 18 episodes overlapping with public-task evaluation datasets were removed, and the 32D layout was adjusted to meet the requirements of specific checkpoints.