SilasJi/RealSource-World

RealSource World 是一个大规模的真实世界机器人操作数据集，使用 RS-02 双臂人形机器人收集。该数据集包含在真实环境中执行的各种长时程操作任务，并提供了原子技能和质量评估的详细注释。数据集的主要特点包括：1400 多万帧真实世界双臂操作演示，36 种不同的操作任务共 11,428 多个片段，57 维的本体感觉状态空间（包括关节位置、速度、力、扭矩和末端执行器姿态），多摄像头视觉观察（头摄像头、左手摄像头、右手摄像头）分辨率为 720x1280，30 FPS，以及每个片段的原子技能分割和质量评估的细粒度注释。数据集涵盖了多种场景，包括厨房、会议室、便利店和家庭环境，并展示了复杂的双臂协调任务。

RealSource World is a large-scale real-world robotics manipulation dataset collected using the RS-02 dual-arm humanoid robot. This dataset contains diverse long-horizon manipulation tasks performed in real-world environments, with detailed annotations for atomic skills and quality assessments. Key features include 14+ million frames of real-world dual-arm manipulation demonstrations, 11,428+ episodes across 36 distinct manipulation tasks, 57-dimensional proprioceptive state space including joint positions, velocities, forces, torques, and end-effector poses, multi-camera visual observations (head camera, left hand camera, right hand camera) at 720x1280 resolution, 30 FPS, and fine-grained annotations with atomic skill segmentation and quality assessments for each episode. The dataset covers diverse scenes including kitchen, conference room, convenience store, and household environments, and demonstrates complex bimanual manipulation skills.