mirmiAIC/Task_1_2_3_all_merged_oliver_manually_processed

该数据集是一个机器人数据集，使用LeRobot创建，专门针对UR5e AIC机器人。它包含490个episodes，总计119373帧，数据以parquet文件格式存储，视频文件以mp4格式存储，帧率为20fps。数据集仅包含训练分割。特征包括：动作（6维，表示delta位置和旋转）、来自三个摄像头的图像观察（左、中、右摄像头，每个图像分辨率为256x288x3，视频编码为av1，像素格式为yuv420p，非深度图，无音频）、时间戳、帧索引、episode索引、索引、任务索引以及状态观察（16维，包括TCP位姿、TCP线速度和角速度、手腕力）。数据集结构基于chunks组织，每个chunk大小为1000，数据文件总大小为100MB，视频文件总大小为200MB。该数据集适用于机器人学习和控制任务。This is a robotics dataset constructed using LeRobot, specifically tailored for the UR5e AIC robot. It comprises 490 episodes, with a total of 119,373 frames. The dataset's tabular data is stored in Parquet file format, while the video files are saved in MP4 format with a frame rate of 20 fps. Only the training split is included in this dataset. The dataset features include: 6-dimensional actions representing delta position and rotation, image observations from three cameras (left, center, right) with a resolution of 256×288×3 each, videos encoded in AV1, pixel format yuv420p, non-depth maps without audio, timestamps, frame index, episode index, sample index, task index, and 16-dimensional state observations including TCP pose, TCP linear and angular velocities, and wrist forces. The dataset is organized into chunks with a size of 1000 entries each. The total size of the data files is 100 MB, and the total size of the video files is 200 MB. This dataset is applicable to robotics learning and control tasks.