diff --git a/Data/Pour_sep_17/README.md b/Data/Pour_sep_17/README.md new file mode 100644 index 0000000000000000000000000000000000000000..146565a9b8de94863b1c41fe1758eaca9b53ee5d --- /dev/null +++ b/Data/Pour_sep_17/README.md @@ -0,0 +1,8 @@ +# Pour_sep_17 倒水 真机遥操数据(2026-09-17) + +- 机器人:Dexmate Vega-1P + 双 Sharpa 手;Quest 遥操,LeRobot v2.1,30 Hz +- 回合:36,帧:23611;相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1) +- 起手式:Yanghong 站姿(双臂 45/45/0/−90,腰 40.52/73.66/0.39°,头俯 10°),手指跟随操作员 +- 与 HF `StZaBL/Pour_sep_17` 同一份数据;其中 11 集(2,5,6,7,8,11,15,20,24,28,29)被 DP 训练方标为失败集剔除, + 余 25 集用于 sim→real DP 微调;首帧均值见 RL_correction_dp/exports/pour17_real_init_pose.json +- `observation.state` / `action`:58 = 左臂 7 + 右臂 7 + 左手 22 + 右手 22(rad);`sidecar/` 为手关节原生速率 + 触觉 diff --git a/Data/Pour_sep_17/data/chunk-000/episode_000000.parquet b/Data/Pour_sep_17/data/chunk-000/episode_000000.parquet new file mode 100644 index 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