Physis-AI/GR1_robot
收藏资源简介：
GR1机器人遥操作数据集是一个大规模的人形机器人遥操作数据集，使用Fourier GR-1（GR1T1）机器人收集，属于GR00T机器人计划的一部分。该数据集包含22,209个episodes，总计6,362,293帧，涉及46,669个任务，视频以20 FPS录制。数据包括以自我为中心的视频观察（分辨率1280x800），以及全身机器人状态和动作，覆盖44个自由度，涵盖双臂、双灵巧手、腰部、颈部等。数据集还提供了每时间步的记录，如关节位置、动作、时间戳、奖励、终止标志、任务和episode索引，以及人类注释（如动词、对象、位置、手部、评分等）。
A large-scale humanoid robot teleoperation dataset collected using the Fourier GR-1 (GR1T1) robot, part of the GR00T robotics initiative. The dataset contains 22,209 episodes, 6,362,293 total frames, 46,669 total tasks, with videos at 20 FPS. It includes egocentric video observations (1280x800) paired with full-body robot states and actions across 44 degrees of freedom, covering dual arms, dual dexterous hands, waist, and neck. Each episode provides per-timestep records such as joint positions, actions, timestamps, rewards, termination flags, task and episode indices, and human annotations (e.g., verb, object, location, hand, rating).
