RoboChallenge/icra_wbc

该数据集包含在Agibot G2人形机器人上收集的2,800个远程操作片段。每个片段捕捉了一个完整的移动操作序列——导航到架子、抓取饮料、走到推车并将物品放入其中——通过多摄像头观察和全身本体感受以30 Hz的频率记录。数据集涵盖了16种饮料类别，并提供了详细的目录结构、摄像头规格、本体感受和动作数据布局、任务描述、关节限制以及机器人平台信息。

This dataset contains 2,800 teleoperated episodes collected on the Agibot G2 humanoid robot. Each episode captures a full mobile manipulation sequence—navigating to a shelf, grasping drink(s), walking to a cart, and placing item(s) into it—recorded via multi-camera observations and full-body proprioception at 30 Hz. The dataset covers 16 drink categories and provides detailed directory structure, camera specifications, proprioception and action data layout, task descriptions, joint limits, and robot platform information.