riku4050/pickplace-dataset

该数据集是一个用于机器人任务的数据集，具体涉及pickplace（拾取放置）操作。它使用LeRobot工具创建，包含250个episodes，总计162,560帧数据。数据集采用Apache 2.0许可证。数据内容包括机器人的动作（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置，共6个关节的位置信息）、状态观测（与动作相同的6个关节位置）、以及三个摄像头的视频观测（每个摄像头分辨率为480x640，3个通道，30帧/秒，使用av1编解码器）。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为so_follower。数据集结构以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps，所有数据均用于训练。This dataset is designed for robotics tasks, specifically involving pickplace (pick and place) operations. It was created using the LeRobot tool and consists of 250 episodes with a total of 162,560 frames. The dataset is licensed under Apache 2.0. The data includes robot actions (e.g., positions of six joints: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper), state observations (same six joint positions as actions), and video observations from three cameras (each with a resolution of 480x640, 3 channels, 30 fps, using the av1 codec). Additionally, it contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. The robot type is so_follower. The dataset is structured in parquet file format, with a total data file size of 100MB and video file size of 200MB, a frame rate of 30fps, and all data is used for training.