unitreerobotics/G1_Erase_Board

该数据集是使用LeRobot创建的，专注于机器人擦黑板的任务。每个操作持续约20至40秒，记录频率为30Hz。使用的机器人是7自由度双臂G1机器人，配备夹持器作为末端执行器。数据集包含机器人的当前状态、下一个动作以及当前摄像头视图图像。摄像头包括腕部安装的单目摄像头和头部安装的双目摄像头，图像分辨率为640x480。机器人的初始姿势是每个数据集条目中的第一个机器人状态，物体随机放置在机器人手臂运动范围和头部摄像头视野内。数据收集不是一次性完成的，因此数据条目之间存在差异，需要在模型训练时考虑这些差异。

This dataset was created using LeRobot and focuses on the task of cleaning a blackboard with an eraser. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot used is a 7-DOF dual-arm G1 robot with a gripper as the end effector. The dataset includes the robots current state, next action, and current camera view images. The cameras consist of a wrist-mounted monocular camera and head-mounted binocular cameras, with an image resolution of 640x480. The robots initial posture is the first robot state in each dataset entry, and objects are randomly placed within the robot arms motion range and the field of view of the robots head-mounted camera. Data collection was not completed in a single session, so variations between data entries exist and should be accounted for during model training.