piper-xyz-pick-cycles-20260627

该数据集由LeRobot创建，是一个用于机器人学研究的机器人操作数据集。数据集使用AgileX Piper双手机器人采集，包含2个episodes，共308帧，涉及1个任务。数据以20fps的帧率采集，包括机器人的状态观测（14维，涵盖左右机械臂的6个关节角度和左右夹爪状态）、动作（14维，与状态观测对应），以及来自三个摄像头（前、右、左）的视频观测，每个视频分辨率为480x640，格式为MP4，编码为AV1。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集适用于机器人控制、模仿学习等任务。

This dataset is created by LeRobot and is a robot manipulation dataset for robotics research. It is collected using the AgileX Piper dual-arm robot, containing 2 episodes, 308 frames in total, and involving 1 task. The data is collected at a frame rate of 20fps, including robot state observations (14-dimensional, covering 6 joint angles for each arm and gripper states for both arms), actions (14-dimensional, corresponding to state observations), and video observations from three cameras (front, right, left), each with a resolution of 480x640, in MP4 format with AV1 encoding. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet file format, with a total data file size of 100MB and video file size of 200MB. The dataset is suitable for tasks like robot control and imitation learning.