20-wasa/openarm-cube-pickup

该数据集是一个用于机器人任务的数据集，具体聚焦于双手机器人（bimanual_openarm）执行拾取立方体的操作。数据集包含20个总片段（total_episodes）和2598个总帧（total_frames），覆盖1个总任务（total_tasks）。数据特征包括观察状态（如16个浮点型关节位置，分别对应左右手臂和手指关节）、动作数据（同样为16个浮点型关节控制值）、时间戳、帧索引、片段索引等。此外，数据集还提供了多视角图像观察，包括头部摄像头、左手腕摄像头和右手腕摄像头的视频数据，每个视频分辨率为480x640，帧率为30fps，使用AV1编解码器。数据集以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，并包含训练集划分（splits: train）。该数据集旨在支持机器人学习和控制研究，特别是针对双臂协调操作任务。

This dataset is designed for robotics tasks, specifically focusing on a bimanual robot (bimanual_openarm) performing cube pickup operations. It includes 20 total episodes and 2598 total frames, covering 1 total task. The features consist of observation states (e.g., 16 floating-point joint positions for left and right arms and finger joints), action data (also 16 floating-point joint control values), timestamps, frame indices, episode indices, and more. Additionally, the dataset provides multi-view image observations from a head camera, left wrist camera, and right wrist camera, with each video having a resolution of 480x640, a frame rate of 30fps, and using the AV1 codec. The data is stored in Parquet format, with a total data file size of 100MB and video file size of 200MB, and includes a training split (splits: train). This dataset aims to support robotics learning and control research, particularly for bimanual coordination tasks.