unitreerobotics/G1_Wipe_Table

该数据集是使用LeRobot创建的，专注于一个特定的任务目标：用抹布擦掉桌子上的水。任务使用7自由度双臂G1机器人完成，每次操作大约需要20到40秒，记录频率为30赫兹。机器人配备夹持器作为末端执行器，并采用双臂操作。图像分辨率为640x480，摄像头位置包括腕部安装的单目摄像头和头部安装的双目摄像头。数据内容包括机器人的当前状态、下一个动作以及当前摄像头视图图像。机器人的初始姿势是每个数据集条目中的第一个机器人状态。物体放置位置在机器人手臂的运动范围和头部摄像头视野内随机放置。数据收集不是一次性完成的，不同数据条目之间存在差异，需要在模型训练时考虑这些差异。

This dataset was created using LeRobot, focusing on a specific task objective: wiping water off a table with a rag. The task is performed using a 7-DOF dual-arm G1 robot, with each operation taking approximately 20 to 40 seconds and recorded at 30 Hz. The robot is equipped with a gripper as the end effector and operates with dual arms. The image resolution is 640x480, with camera positions including a wrist-mounted monocular camera and 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. Objects are placed randomly within the robot arms motion range and the field of view of the head-mounted camera. Data collection is not completed in a single session, and variations between data entries exist, which need to be accounted for during model training.