Xense/earbud_case_sequential_insertion_teleop

该数据集是一个机器人学数据集，使用LeRobot创建，专门用于双Flexiv Rizon4 RT机器人。数据集包含85个episodes，总计448,367帧，覆盖1个任务，数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。数据特征包括：动作向量（20维浮点数，表示左右机器人的TCP位姿和夹爪位置）、状态观测（与动作相同的20维向量）、多视角图像观测（头部摄像头、左右手腕摄像头、左右触觉传感器摄像头，分辨率分别为480x640和400x700，均为RGB视频），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制、视觉感知和强化学习研究。This dataset is a robotics dataset created using LeRobot, specifically for the bi-Flexiv Rizon4 RT robot. It contains 85 episodes with a total of 448,367 frames, covering 1 task. Data is stored in parquet files, and videos are in mp4 format at 30fps. Features include: action vectors (20-dimensional floats representing TCP poses and gripper positions for left and right robots), state observations (same 20-dimensional vectors as actions), multi-view image observations (head camera, left/right wrist cameras, left/right tactile sensor cameras, with resolutions of 480x640 and 400x700 respectively, all RGB videos), and metadata such as timestamps, frame indices, and episode indices. The dataset is suitable for robotics control, visual perception, and reinforcement learning research.