unitreerobotics/G1_Dex3_ToastedBread_Dataset

这是一个使用LeRobot创建的数据集，用于执行两个任务：将面包从托盘放入烤面包机中，然后烤好后将面包递给人类。数据集包含面包和烤面包机两种操作对象，每个操作大约需要20到40秒，记录频率为30Hz。机器人类型为7自由度双臂G1机器人，末端执行器为三指灵巧手。数据集包含单臂和双臂操作，图像分辨率为640x480，摄像头位置包括手腕安装的单目摄像头和头部安装的双目摄像头。数据内容包括机器人的当前状态、下一步动作和当前摄像头视图图像。数据集以Parquet文件格式存储，包含418个剧集、352022帧图像、1个任务和1672个视频。

This dataset was created using LeRobot and is designed to perform two tasks: placing bread from a serving tray into a toaster and then handing the toast to a human after it is toasted. The dataset includes two operational objects, bread and a toaster, with each operation taking approximately 20 to 40 seconds and a recording frequency of 30Hz. The robot type is a 7-DOF dual-arm G1 robot with a three-fingered dexterous hand as the end effector. The dataset supports both single-arm and dual-arm operations, with image resolution at 640x480 and camera positions including a wrist-mounted monocular camera and head-mounted binocular cameras. The data content includes the robots current state, next action, and current camera view images. The dataset is stored in Parquet file format, containing 418 episodes, 352022 frames, one task, and 1672 videos.