ases200q2/Aibot2_combined_pick_object_datasets

该数据集使用LeRobot创建，专注于机器人学任务，具体为Aibot2机器人执行拾取物体的任务。数据集包含398个episodes和133,581帧数据，帧率为25fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。特征包括动作（16维浮点数组，表示左右机械臂的位置和四元数姿态以及左右夹爪位置）、观测状态（16维浮点数组，表示左右机械臂关节位置和夹爪位置）、以及来自四个摄像头（front、left、right、top）的图像观测（每个为240x320x3的视频数据，编码为av1）。此外，还包含时间戳、帧索引、episode索引等元数据。数据集仅提供训练分割，涵盖所有episodes。This dataset was created using LeRobot and focuses on robotics tasks, specifically pick object tasks performed by the Aibot2 robot. It contains 398 episodes and 133,581 frames at 25fps. Data is stored in parquet format, with total data file size of 100MB and video file size of 200MB. Features include actions (16-dimensional float32 arrays representing left and right arm positions, quaternion orientations, and gripper positions), observation states (16-dimensional float32 arrays for joint positions of left and right arms and grippers), and image observations from four cameras (front, left, right, top), each as video data with shape 240x320x3, encoded in av1. Additional metadata includes timestamps, frame indices, episode indices, and more. The dataset only provides a training split covering all episodes.