axiboai/piper-stack-scripted-v2

该数据集由LeRobot创建，是一个用于机器人学任务的数据集，包含400个episodes和218,735个frames。数据以parquet文件格式存储，视频文件以mp4格式存储。数据集的特征包括来自三个摄像头的观察图像（左腕、右腕和顶部场景，分辨率为224x224，帧率为50fps），机器人状态（7个浮点数，代表关节位置和夹爪状态），动作（7个浮点数，代表关节目标），以及元数据（如演示者ID、站ID、任务变体、毛巾ID、照明条件、垫子ID、成功标志和注释）。此外，还包括时间戳、帧索引、episode索引和任务索引等信息。数据集适用于模仿学习、强化学习等机器人控制任务。This dataset was created using LeRobot and is designed for robotics tasks, containing 400 episodes and 218,735 frames. The data is stored in parquet files, with video files in mp4 format. Features include observation images from three cameras (left wrist, right wrist, and top scene, with a resolution of 224x224 and a frame rate of 50fps), robot state (7 float numbers representing joint positions and gripper state), action (7 float numbers representing joint targets), and metadata (such as demonstrator ID, station ID, task variant, towel ID, lighting, mat ID, success flag, and notes). Additionally, it includes timestamp, frame index, episode index, and task index. The dataset is suitable for tasks like imitation learning and reinforcement learning in robotics.