LightwheelAI/Lightwheel-Tasks-G1-WBC

该数据集包含32个Lightwheel-Robocasa任务，使用g1-wbc机器人在LW-BenchHub提供的环境中收集。数据集记录了机器人的状态（43维关节位置）和动作（23维，包括手部、臂部和基座动作）。手部动作使用连续值控制（-1.0表示完全打开，+1.0表示完全关闭），臂部动作控制末端执行器的位姿（位置和四元数方向），基座动作控制局部坐标系中的运动命令和躯干方向。数据集包含1600个episodes，1474930帧，以50fps录制，存储为parquet格式，并包含来自左手、右手和第一人称视角的视频数据。

This dataset includes 32 Lightwheel-Robocasa-Tasks, collected using the g1-wbc robot in environments provided by LW-BenchHub. The dataset records robot state (43-dimensional joint positions) and actions (23-dimensional, including hand, arm, and base actions). Hand actions use continuous values (-1.0 for fully open, +1.0 for fully closed), arm actions control end-effector poses (position and quaternion orientation), and base actions control motion commands in local frame and torso orientation. The dataset contains 1600 episodes, 1,474,930 frames recorded at 50fps, stored in parquet format, and includes video data from left-hand, right-hand, and first-person perspectives.