robotics-diffusion-transformer/BimanualUR5eExample
收藏Hugging Face2025-09-26 更新2025-10-25 收录
下载链接：
https://hf-mirror.com/datasets/robotics-diffusion-transformer/BimanualUR5eExample
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资源简介：
该数据集提供了WebDataset格式的数据片，用于对RDT-2或其他策略模型在双臂操作任务上进行微调。每个样本包含双目RGB图像、相对动作块、离散动作标记序列和元数据JSON。数据集支持多种双臂操作任务，如倒水、清洁桌面、折叠毛巾和堆叠杯子，且数据是在双臂UR5e设置上收集的。
This dataset provides shards in the WebDataset format for fine-tuning RDT-2 or other policy models on bimanual manipulation tasks. Each sample includes a binocular RGB image, a relative action chunk, a discrete action token sequence, and metadata JSON. The dataset supports various bimanual manipulation tasks such as pouring water, cleaning the desktop, folding towels, and stacking cups, and the data were collected on a bimanual UR5e setup.
提供机构：
robotics-diffusion-transformer
