gsethia08/part3-insert_remove_bookshelf

该数据集是一个机器人学数据集，专注于手部操作任务，具体为在书架上插入和移除物品（part3-insert_remove_bookshelf）。它包含3117个episodes和792174帧数据，覆盖15个不同任务。数据以parquet文件格式存储，视频文件为mp4格式，帧率为30fps，分辨率为1080x1920。数据集特征包括：观察数据（如相机图像和手部状态，状态维度为48，包括左右手腕和手指的坐标及旋转参数）、相机内外参数（分别维度为16和9）、动作数据（维度48）、语言指令、时间戳、帧索引、episode索引等。数据集使用Apache 2.0许可证，适用于机器人控制和模仿学习研究。This is a robotics dataset dedicated to dexterous hand manipulation tasks, specifically book insertion and removal operations on a bookshelf (part3-insert_remove_bookshelf). It consists of 3117 episodes and 792174 frames, covering 15 distinct tasks. The data is stored in Parquet file format, with video files in MP4 format, at a frame rate of 30fps and a resolution of 1080x1920. The dataset includes the following data features: observational data (such as camera images and hand states, with a state dimension of 48 covering the coordinates and rotation parameters of the left and right wrists and fingers), camera intrinsic and extrinsic parameters (with dimensions of 16 and 9 respectively), action data (dimension 48), language instructions, timestamps, frame indices, episode indices, etc. This dataset is licensed under Apache 2.0, and is suitable for research in robotics control and imitation learning.