basket-7-24

该数据集由LeRobot创建，专用于机器人学习研究，聚焦于单臂Franka机器人执行任务的数据。数据集包含动作信息（如位置、姿态、夹爪控制）、观测状态（关节角度和夹爪状态）、多个摄像头图像（包括手腕摄像头和场景摄像头，分辨率为224x224，RGB格式），以及时间戳和帧索引等元数据。总计有97个episodes，共44690帧，帧率为20fps，数据以parquet和视频文件格式存储。适用于机器人控制、视觉感知等相关任务。This dataset was developed by LeRobot, specifically tailored for robotic learning research, focusing on data collected when single-arm Franka robots perform tasks. The dataset includes action information (e.g., position, pose, gripper control), observation states (joint angles and gripper status), multiple camera images (including wrist-mounted cameras and scene cameras, with a resolution of 224×224 in RGB format), as well as metadata such as timestamps and frame indices. In total, it contains 97 episodes and 44,690 frames, with a frame rate of 20 fps. The data is stored in parquet and video file formats, and is applicable to tasks related to robot control, visual perception, and other relevant research fields.