cell1_20260520_laundry_folding_20260520_125045

这是一个用于机器人学习的数据集，专注于折叠衣物任务。数据由Starpilot Yam Gripper机器人收集，包含两个机械臂的动作和状态信息。动作数据为14维向量，涵盖两个机械臂的末端位置（x, y, z）、旋转（rx, ry, rz）和夹爪宽度。观测数据包括32维状态向量（如编码器角度、IMU加速度和角速度、机器人位姿、夹爪状态）以及来自多个摄像头的视频数据：左腕和右腕的RGB和深度图像（分辨率480x640），基座的两个RGB图像（分辨率分别为480x640和768x1024），所有视频以30fps录制。数据集包含2个完整episodes、1072帧、1个任务，适用于机器人控制、模仿学习或强化学习研究。This is a dataset designed for robotic learning, focusing on the clothing folding task. The dataset was collected using the Starpilot Yam Gripper robot, and contains motion and state information of two robotic arms. The motion data is a 14-dimensional vector, covering the end positions (x, y, z), rotations (rx, ry, rz) and gripper widths of the two robotic arms. The observation data includes a 32-dimensional state vector (e.g., encoder angles, IMU acceleration and angular velocity, robot pose, and gripper status) as well as video data from multiple cameras: RGB and depth images of the left and right wrists (with a resolution of 480x640), two RGB images of the robot base (with resolutions of 480x640 and 768x1024 respectively). All videos are recorded at 30 frames per second (fps). The dataset contains 2 complete episodes, 1072 frames, and one single task, which is suitable for research in robotic control, imitation learning or reinforcement learning.