X-Humanoid/XR-1-Dataset-Sample

该存储库包含**XR-1**项目的多模态数据集的代表性样本。数据组织方式支持人形机器人、机械臂和自我中心视觉的跨体现训练。数据分为机器人体现数据（LeRobot格式）和人类/自我中心数据（Ego4D格式）。数据模态包括视觉（多视角高频RGB流）、运动（连续状态-动作对，标记为UVMC）和语言（与每个情节配对的自然语言指令）。数据集的使用需配合XR-1 GitHub仓库。

This repository contains a representative sample of the **XR-1** projects multi-modal dataset. The data is organized to support cross-embodiment training for Humanoids, Manipulators, and Ego-centric vision. The data is divided into Robot Embodiment Data (LeRobot format) and Human/Ego-centric Data (Ego4D format). Data modalities include Vision (high-frequency RGB streams from multiple camera perspectives), Motion (continuous state-action pairs, tokenized into UVMC), and Language (natural language instructions paired with each episode). The dataset is intended for use with the XR-1 GitHub Repository.