Voxel51/aloha_pen_uncap

这是一个基于FiftyOne平台的LeRobot格式数据集，是BiPlay数据集中专注于在不同条件下使用ALOHA机器人进行双臂解开笔盖任务的子集。它包含了在不同的物体放置、背景和干扰物条件下，机器人抓取笔并成功移除笔帽的动作序列，用于评估策略泛化能力和适应不同现实世界场景的能力。数据集以LeRobot数据集v2.0格式提供，兼容常见的机器人学习框架，包含了状态序列、动作序列、速度、力度和每个时间步的高分辨率图像。

This is a FiftyOne-based LeRobot formatted dataset, a subset of BiPlay focused on the bimanual task of un-capping a pen under diverse conditions using the ALOHA robot. It includes sequences of actions where the robot is required to grasp a pen and successfully remove its cap across a variety of object placements, backgrounds, and distractor objects, designed to benchmark policy generalization and the ability to adapt to varied real-world scenarios. The dataset is provided in the LeRobot dataset v2.0 format, compatible with common robotics learning frameworks, and includes state sequences, action sequences, velocities, efforts, and high-resolution images from multiple camera viewpoints for each time step.