AIRBOT_MMK2_screw_the_bottle_cap
收藏资源简介：
这是一个基于LeRobot扩展格式的数据集，与LeRobot完全兼容。它专注于机器人任务，特别是使用AIRBOT_MMK2机器人拧瓶盖的动作。数据集包括抓取、捡起和放置等原子动作，并包含子任务、场景、末端执行器和夹爪状态的丰富注释。数据集包含50个场景，16965帧，1个任务，200个视频，并分为1个包含1000个场景的块。数据集遵循Apache-2.0许可证，由RoboCOIN团队贡献。主要任务是拿起水瓶，拧下盖子，然后将水瓶放在桌子上。数据集还包括4个不同的摄像机视图以及各种运动和夹爪特征。
This is a dataset built on the extended LeRobot format and fully compatible with LeRobot. It focuses on robotic manipulation tasks, specifically the cap-unscrewing operation performed with the AIRBOT_MMK2 robot. The dataset contains atomic actions such as grasping, picking up, and placing, alongside comprehensive annotations for subtasks, scenes, end-effectors, and gripper states. The dataset comprises 50 scenes, 16965 frames, 1 distinct task, and 200 videos, and is partitioned into 1 chunk that contains 1000 scenes. The dataset is licensed under Apache-2.0 and contributed by the RoboCOIN Team. The core task of the dataset is to pick up a water bottle, unscrew its cap, and place the bottle onto the table. Additionally, the dataset provides 4 distinct camera viewpoints, along with various motion and gripper-related features.
AIRBOT_MMK2_screw_the_bottle_cap 数据集概述
基本信息
- 数据集名称: AIRBOT_MMK2_screw_the_bottle_cap
- 许可证: apache-2.0
- 支持语言: 英语、中文
- 任务类别: 机器人技术
- 标签: RoboCOIN、LeRobot
- 规模分类: 10K-100K
机器人配置
- 机器人类型: AIRBOT_MMK2
- 代码库版本: v2.1
- 末端执行器类型: 五指手
场景与动作
- 场景类型: 家庭环境
- 原子动作: 抓取、拾取、放置
数据集统计
| 指标 | 数值 |
|---|---|
| 总情节数 | 50 |
| 总帧数 | 16965 |
| 总任务数 | 1 |
| 总视频数 | 200 |
| 总分块数 | 1 |
| 分块大小 | 1000 |
| 帧率 | 30 |
任务描述
主要任务
用一只手拿起水瓶，用另一只手拧开瓶盖，并将瓶子放在桌子上。
子任务
- 结束
- 用左手抓取器抓住瓶子
- 用左手抓取器抬起瓶子
- null
- 用左手抓取器将瓶子放在桌子上
- 用右手拧开瓶盖，同时用左手握住瓶子
数据特征
视觉观测
- observation.images.cam_high_rgb: 视频 (480×640×3, 30fps, AV1编码)
- observation.images.cam_left_wrist_rgb: 视频 (480×640×3, 30fps, AV1编码)
- observation.images.cam_right_wrist_rgb: 视频 (480×640×3, 30fps, AV1编码)
- observation.images.cam_third_view: 视频 (480×640×3, 30fps, AV1编码)
状态与动作
- observation.state: float32 (36维关节状态)
- action: float32 (36维关节动作)
注释信息
- 子任务注释: 细粒度子任务分割和标注
- 场景注释: 语义场景分类和描述
- 末端执行器注释: 运动方向、速度、加速度分类
- 抓取器注释: 开/关状态、活动状态
运动特征
- 末端执行器模拟位姿: 6D位姿信息（状态和动作）
- 抓取器开度尺度: 连续抓取器开度测量
数据组织
文件结构
- 数据文件: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
- 视频文件: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
数据分割
- 训练集: 情节0-49
作者与链接
贡献者
- RoboCOIN团队
相关链接
- 主页: https://flagopen.github.io/RoboCOIN/
- 论文: https://arxiv.org/abs/2511.17441
- 代码库: https://github.com/FlagOpen/RoboCOIN
- 项目页面: https://flagopen.github.io/RoboCOIN/
- 问题反馈: https://github.com/FlagOpen/RoboCOIN/issues
技术规格
- 格式兼容: 基于LeRobot扩展格式，完全兼容LeRobot
- 相机视角: 4个相机视角
- 数据分块: 1个分块，每个分块1000个情节
引用信息
bibtex @article{robocoin, title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, journal={arXiv preprint arXiv:2511.17441}, url = {https://arxiv.org/abs/2511.17441}, year={2025} }
