pyrrosk/aloha_pipes_single

该数据集是一个机器人数据集，使用LeRobot工具创建，专门针对ALOHA双臂机器人系统。数据集包含50个训练episodes，总计41577帧数据，采样频率为50Hz。数据特征包括：14维的机器人状态观测（左右臂各7个关节角度），14维的机器人动作指令（与状态观测对应），以及三个视角的RGB视频观测（顶部摄像头、左腕摄像头、右腕摄像头），每个视频分辨率为224x224，编码为h264格式。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，总数据文件大小约100MB，视频文件大小约200MB。

This dataset is a robotics dataset created using the LeRobot tool, specifically for the ALOHA bimanual robot system. It contains 50 training episodes, totaling 41,577 frames at 50Hz sampling rate. Features include: 14-dimensional robot state observations (7 joint angles for each arm), 14-dimensional robot action commands (corresponding to state observations), and RGB video observations from three perspectives (top camera, left wrist camera, right wrist camera), each with 224x224 resolution and h264 encoding. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. Data is stored in parquet format, with total data file size approximately 100MB and video file size approximately 200MB.