unitreerobotics/G1_DualRobot_Clean_Table

该数据集是使用LeRobot创建的，旨在与附近的伙伴合作整理桌子。每个操作大约需要20到40秒，记录频率为30 Hz。使用的机器人是7自由度双臂G1机器人，配备夹持器。数据集支持双臂操作，图像分辨率为640x480，相机位置包括腕部安装的单目相机和头部安装的双目相机。数据内容包括机器人的当前状态、下一个动作以及当前相机视图图像。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。物体随机放置在机器人手臂的运动范围和头部相机的视野内。相机视图遵循AVP Teleoperation Documentation第5部分的指南。数据集结构包含丰富的特征描述，包括左右臂、夹持器、末端执行器、身体各部分的观察和动作，以及来自不同相机的图像和时间戳。

This dataset was created using LeRobot and is designed for collaborating with a nearby partner to tidy the table. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot used is a 7-DOF dual-arm G1 robot with a gripper. The dataset supports dual-arm operation, with an image resolution of 640x480 and 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 randomly placed within the robot arms motion range and the field of view of the robots head-mounted camera. The camera view follows the guidelines in Part 5 of the AVP Teleoperation Documentation. The dataset structure includes detailed feature descriptions, covering observations and actions for left and right arms, grippers, end effectors, body parts, images from different cameras, and timestamps.