chaoqi-liu/mshab_settable

该数据集是LeRobot格式的MS-HAB SetTable子任务转换数据集，包含Pick、Place、OpenFr、OpenDr、CloseFr、CloseDr等6个子任务，共8000个episodes和1600000帧。数据集结构包括元数据文件、统计文件、任务文件和episodes文件。观察映射包括状态、关节位置、速度、TCP位姿、物体位姿、目标位置、抓取状态以及RGB视频。动作映射包括13维的浮点控制信号。每个episode的元数据存储在meta/mshab_source_episodes.jsonl文件中。数据集还提供了转换总结和验证报告。

This dataset is a LeRobot-format conversion of the MS-HAB SetTable subtasks, including tasks such as Pick, Place, OpenFr, OpenDr, CloseFr, and CloseDr, with a total of 8000 episodes and 1600000 frames. The dataset structure includes metadata files, statistics files, task files, and episodes files. Observation mapping includes state, joint positions, velocities, TCP pose, object pose, goal position, grasp status, and RGB videos. Action mapping includes a 13-D float32 control signal. Episode metadata is stored in meta/mshab_source_episodes.jsonl. The dataset also provides a conversion summary and verification report.