xBerry/lerobot_act

该数据集是一个机器人动作数据集，使用LeRobot创建，专注于机器人控制任务。数据集包含91个episodes，总计40628帧，帧率为15fps。数据格式为parquet文件，特征包括动作（6维关节位置，如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）、观测状态（同样为6维关节位置），以及多个视频观测，如video0、video8、realsense_d435_color、realsense_d435_depth、realsense_d455_color和realsense_d455_depth，这些视频分辨率为480x640，3通道，编码为h264。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集适用于机器人学习和模仿学习任务，许可证为Apache-2.0。This dataset is a robotics action dataset created using LeRobot, focusing on robot control tasks. It contains 91 episodes with a total of 40,628 frames at 15 fps. The data is in parquet format, featuring actions (6-dimensional joint positions, including shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions), observation states (also 6-dimensional joint positions), and multiple video observations such as video0, video8, realsense_d435_color, realsense_d435_depth, realsense_d455_color, and realsense_d455_depth, with a resolution of 480x640, 3 channels, and h264 encoding. Additionally, metadata includes timestamp, frame index, episode index, index, and task index. The dataset is suitable for robotics learning and imitation learning tasks, licensed under Apache-2.0.