rainbowrobotics/icra_0526

该数据集是一个机器人学数据集，使用LeRobot创建，包含双臂机器人（类型为rby1）的演示数据。数据集由977个episodes组成，总计233003帧，帧率为15fps。数据特征包括：动作空间（16维浮点数组，控制左右机械臂的7个关节和左右夹爪的1个关节）、观测状态（与动作空间相同的16维数组，表示机器人状态）、以及来自前、右、左三个视角的图像观测（视频格式，前视角分辨率为480x640，右和左视角分辨率为640x480，均为RGB三通道，使用AV1编解码器）。此外，还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人模仿学习或强化学习任务。许可证为Apache-2.0。This dataset is a robotics dataset created using LeRobot, containing demonstration data for a dual-arm robot (type rby1). It consists of 977 total episodes with 233003 total frames at 15 fps. Features include: action space (16-dimensional float32 array controlling 7 joints each for the right and left arms and 1 joint each for the right and left grippers), observation state (a similar 16-dimensional array representing robot state), and image observations from front, right, and left views (video format, front view resolution 480x640, right and left views 640x480, all RGB three-channel, using AV1 codec). Additionally, metadata such as timestamp, frame index, episode index, and task index are included. The dataset is stored in parquet format, with total data file size of 100MB and video file size of 200MB, suitable for robot imitation learning or reinforcement learning tasks. License is Apache-2.0.