axiboai/piper-stack-act-tactile-depth-v0

该数据集是一个机器人学数据集，使用LeRobot创建，专门用于机器人操作任务。数据集包含400个总片段和223205个总帧，以parquet文件格式存储，数据文件大小为100MB，视频文件大小为200MB，帧率为50fps。特征包括来自左右手腕和顶部场景的图像和深度观察（均为224x224x3分辨率）、状态观察（7个浮点数表示关节位置和夹爪状态）、动作（7个浮点数表示关节目标）、触觉数据（32个浮点数）以及元数据如演示者ID、站点ID、任务变体、毛巾ID、照明条件、垫子ID、成功标志、笔记等。数据集适用于训练和评估机器人控制模型，支持多模态输入。This is a robotics dataset developed using LeRobot, exclusively tailored for robotic manipulation tasks. It consists of 400 total segments and 223,205 total frames, stored in Parquet file format. The total size of the data files is 100 MB, while the video files measure 200 MB, with a frame rate of 50 fps. The dataset features multimodal data including: images and depth maps from the left wrist, right wrist, and top-down scene camera (all at a resolution of 224x224x3), state observations (7 floating-point numbers representing joint positions and gripper status), actions (7 floating-point numbers representing joint targets), haptic data (32 floating-point numbers), as well as metadata such as demonstrator ID, site ID, task variant, towel ID, lighting conditions, mat ID, success flag, notes, and more. This dataset is suitable for training and evaluating robotic control models, and supports multimodal inputs.