Search is not available for this dataset
observation.state list | action list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
ILOHA Cloth Folding Dataset
概要 (Dataset Summary)
本データセットは、独自の双腕マニピュレータ「ILOHA」を用いて収集された、四角い布を折りたたむタスク（Cloth Folding）のデモンストレーションデータセットです。
データセットは機械学習・ロボティクス向けライブラリである LeRobot 形式で構築されており、動画（.mp4）とメタデータ（.parquet）で構成されています。
ハードウェア: 双腕マニピュレータ「ILOHA」
データの収集には、KUPACが開発する独自の双腕マニピュレータ ILOHA を使用しています。 ハードウェアの詳細や設計データ、制御コード等については、以下のGitHub組織で公開されています。
- KUPAC GitHub: https://github.com/KU-PAC
タスク詳細 (Task Description)
- タスク内容: テーブル上に平置きされた四角い布を、双腕を用いて折りたたむタスク。
データセットの構成 (Dataset Structure)
本データセットは、収集環境の異なる2つのサブデータセットで構成されています。実環境におけるドメインシフトの検証等に活用可能です。
| データセット名 | 収集環境 | 特徴・詳細 |
|---|---|---|
| iloha-dataset-univ | 大学内の実験室 | 照明や背景が比較的統制されたベースラインとなる環境。 |
| iloha-dataset-sushi | イベント会場 | 外部のイベント会場で収集され、背景や環境光のノイズ・変化が含まれる環境。 |
利用方法 (Usage)
本データセットは LeRobot 形式に準拠しているため、Hugging Faceの datasets ライブラリ、または lerobot ツールキットを用いて簡単に読み込むことが可能です。
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