nuffnuff/yam-pour-v5

该数据集是一个用于机器人学习的数据集，专门针对YAM Follower Bimanual双手机器人任务。数据集中包含150个episodes，总计135788个frames，每个frame记录机器人状态观测（14维关节位置，对应左右机械臂的肩部、肘部、腕部和夹爪位置）、动作（14维关节位置）、以及三个摄像头的视频观测（头部、左腕、右腕，分辨率均为240x320，帧率15fps）。此外，还包括时间戳、帧索引、episode索引、任务索引等元数据。数据以Parquet文件格式分块存储，总数据文件大小为100MB，视频文件大小为200MB，所有数据均用于训练集。This dataset is designed for robotics learning, specifically for the YAM Follower Bimanual dual-arm robot task. It contains 150 episodes with a total of 135,788 frames. Each frame includes robot state observations (14-dimensional joint positions for left and right arms, covering shoulder, elbow, wrist, and gripper positions), actions (14-dimensional joint positions), and video observations from three cameras (head, left wrist, right wrist, all at 240x320 resolution and 15fps). Additionally, metadata such as timestamp, frame index, episode index, and task index are provided. The data is stored in Parquet files in chunks, with a total data file size of 100MB and video file size of 200MB, all allocated for the training set.