unitreerobotics/G1_Pouring_Dataset

该数据集是一个机器人操作数据集，用于模拟将水从瓶子倒入透明玻璃杯的过程。使用的机器人是7自由度的双臂G1型机器人，配备三指灵巧手。数据集包含机器人的当前状态、下一步动作以及当前摄像头视图图像。数据以 episodes 和 frames 的形式组织，并提供了训练集的划分。数据集的录制频率为30Hz，图像分辨率为640x480，包含单目和双目摄像头视角。

This dataset is a robotic operation dataset designed to simulate pouring water from a bottle into a transparent glass cup. It uses a 7-DOF dual-arm G1 robot equipped with three-fingered dexterous hands. The dataset includes the robots current state, the next action, and the current camera view images. The data is structured into episodes and frames, with a specified split for the training set. The recording frequency is 30Hz, the image resolution is 640x480, and it includes monocular and binocular camera perspectives.