HY-LiYihan/astribot_scene_replay_120eps

该数据集包含120个固定Astribot拾取和放置回放轨迹，在Isaac Sim 5.1就绪场景中渲染。机器人动作序列是固定的，而场景和任务放置在不同集之间变化。数据集提供三个RGB视频观测（头摄像头和两个手腕摄像头），每帧包括22维的Astribot关节状态和命令向量，以及时间戳、帧索引等元数据。数据格式为LeRobot v3风格本地数据集，适用于视觉策略调试、回放条件模仿学习实验和Astribot操作任务的场景级视觉泛化验证。This dataset contains fixed Astribot pick-and-place replay trajectories rendered in Isaac Sim 5.1 ready scenes. The robot action sequence is fixed, while the scene and task placement vary across episodes. It provides three RGB video observations (head camera and two wrist cameras), each frame includes 22-dimensional Astribot joint state and command vectors, along with metadata such as timestamp and frame index. The format is LeRobot v3-style local dataset, intended for visual policy debugging, replay-conditioned imitation learning experiments, and validating scene-level visual generalization for Astribot manipulation tasks.