Ray0v0/OXE_EndEffector_Lerobot

本仓库收录了一组经过标准化处理的机器人操作数据集，原始数据来自OXE数据集，通过提取机器人无关的末端位姿信息进行数据清洗，并转换为LeRobot格式，方便训练与评估。数据集包含多个子数据集，每个子数据集包含机器人的观测（状态向量和多路图像）和动作信息。观测包括末端执行器的位置、姿态和夹爪状态，以及多视角的图像信息。动作信息包括末端执行器的目标状态和夹爪状态。此外，数据集还包含任务指令的元数据。

This repository contains a standardized set of robotic manipulation datasets, originally sourced from the OXE dataset, which has been cleaned by extracting robot-independent end-effector pose information and converted to the LeRobot format for easy training and evaluation. The dataset includes multiple sub-datasets, each containing robot observations (state vectors and multi-view images) and action information. Observations include the end-effectors position, orientation, and gripper state, as well as multi-view image information. Action information includes the target state of the end-effector and gripper state. Additionally, the dataset includes metadata with task instructions.