JiaqiYin/octo_ur5_dataset

Octo UR5/UR3数据集是一个用于机器人操作任务的数据集，包含真实世界和模拟环境中的数据。数据集通过游戏手柄遥控操作UR5e和UR3e机器人收集，配备了Robotiq夹爪和Intel Realsense D435相机。数据集包含98个episodes，总大小约3.1GB，格式为RLDS/TFDS。每个episode包含RGB图像（256×256）和7-DoF的本体感知数据，动作空间也是7-DoF。数据集分为UR5和UR3两个子集，分别包含不同的任务和episodes数量。数据集结构遵循RLDS/TFDS格式，与Octo的数据加载管道兼容。

The Octo UR5/UR3 Dataset is a collection of real-world and simulation robot manipulation datasets for finetuning on UR-series robots. Data was collected via gamepad teleoperation on UR5e and UR3e robots equipped with Robotiq grippers and Intel Realsense D435 cameras. The dataset contains 98 episodes with a total size of ~3.1 GB, formatted in RLDS/TFDS. Each episode includes RGB images (256×256) and 7-DoF proprioceptive data, with actions also in 7-DoF. The dataset is divided into UR5 and UR3 subsets, each containing different tasks and numbers of episodes. The dataset structure follows the RLDS/TFDS format and is compatible with Octos data loading pipeline.