boyzym/G1_Dex1_DiverseManip_DualArm_128x128

该数据集使用LeRobot创建，专注于机器人任务，具体目标是整理和清理桌上的物品。每个操作持续20-40秒，记录频率为30 Hz。机器人类型为7自由度双臂G1机器人，配备夹爪作为末端执行器，支持双臂操作。图像分辨率为128x128，相机位置为头戴式双目摄像头。数据内容包括机器人当前状态、下一个动作以及当前相机视图图像。机器人初始姿势为每个数据集条目的第一个机器人状态，物体随机放置在机器人手臂运动范围和头戴相机视野内。数据集包含525个episodes，总计413538帧，数据文件大小为100 MB，视频文件大小为500 MB，帧率为30 FPS，特征包括观察状态、动作、左右相机图像等。该数据集适用于视频生成模型、世界模型等应用，并需注意数据收集过程中的变化。This dataset was created using LeRobot and focuses on robotics tasks, specifically aiming to organize and tidy items on a table. Each operation lasts approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot type is a 7-DOF dual-arm G1 robot, equipped with a gripper as the end effector, supporting dual-arm operation. The image resolution is 128x128, with camera positions being head-mounted binocular cameras. The data content includes the robots current state, next action, and current camera view images. The robots initial posture is the first robot state in each dataset entry, and objects are randomly placed within the robot arms motion range and the field of view of the head-mounted camera. The dataset contains 525 episodes, totaling 413538 frames, with data file size of 100 MB and video file size of 500 MB, at a frame rate of 30 FPS. Features include observation state, action, left and right camera images, etc. It is suitable for applications such as video generation models and world models, with variations in data collection to be accounted for during training.