mjkim00/aloha_unscrew_cwt

这是一个用于机器人学的数据集，专注于拧螺丝任务，由LeRobot工具创建。数据集包含多模态观测数据：14维浮点数组的状态观测（表示机器人关节位置等信息）、14维浮点数组的动作数据，以及多个摄像头的视频数据，包括高分辨率摄像头（480x848分辨率）、左右手腕摄像头（各480x848分辨率）和CWT触觉传感器摄像头（224x224分辨率，模拟触觉感受器，如梅斯纳小体和帕西尼小体），所有视频以av1编码，帧率为50fps。此外，数据集还包括时间戳、帧索引、任务索引等元数据。总数据量为150个episodes、200647帧，覆盖1个任务，数据文件大小为100MB，视频文件大小为200MB，适用于机器人学习和控制研究。This is a robotics dataset focused on unscrewing tasks, created using the LeRobot tool. It includes multimodal observation data: state observations as 14-dimensional float32 arrays (representing robot joint positions, etc.), action data as 14-dimensional float32 arrays, and video data from multiple cameras, including a high-resolution camera (480x848 resolution), left and right wrist cameras (each 480x848 resolution), and CWT tactile sensor cameras (224x224 resolution, simulating tactile receptors such as Meissners and Pacinian corpuscles). All videos are encoded in av1 with a frame rate of 50fps. Additionally, the dataset contains metadata such as timestamps, frame indices, and task indices. The total data comprises 150 episodes, 200647 frames, covering 1 task, with data file size of 100MB and video file size of 200MB, suitable for robotics learning and control research.