ABC-130k XDOF
ABC-130k ABC-130k is the largest open-source robot teleoperation dataset. It contains bimanual manipulation trajectories collected on two-arm YAM stations. Episodes are distributed as MCAP files, with subtask annotations kept as separate artifacts so they can be revised or extended independently of the underlying episode data. For details on the accompanying paper, see abc.bot. Please see the GitHub repo here for code to train and deploy with this dataset. Dataset… See the full description on the dataset page: https://huggingface.co/datasets/XDOF/ABC-130k.
- 类型
- dataset
- 许可
- apache-2.0
- 语言
- en
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标签
- 机器人数据
- 示教数据
- 模仿学习
- 数据集
- 数据处理
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摘要
ABC-130k 是当前最大的开源机器人遥操作系统数据集，包含在双机械臂YAM设备上采集的双臂操作轨迹数据。数据以MCAP文件格式分发，子任务标注以独立文件保存，便于独立修订和扩展。该数据集用于机器人双操作臂操作策略的训练与部署，适合机器人操作和模仿学习研究场景。