Task-Agnostic Real World Robot Play

7-DoF 机械臂和平行钳口抓手执行各种无定向操作任务的情节，大约 1% 的数据使用自然语言嵌入进行注释。通过VR控制器使用远程操作收集情节，告诉用户在没有特定任务的情况下远程操作机器人。每个状态-动作对都编码在 Numpy npz 文件中，由静态和抓手相机、本体感受状态以及与该状态对应的机器人未来动作的 RGB-D 图像组成。

Episodes of a 7-DoF robotic arm equipped with a parallel jaw gripper performing various unoriented manipulation tasks. Roughly 1% of the dataset is annotated with natural language embeddings. Episodes were collected via teleoperation using VR controllers, where users were instructed to teleoperate the robot without being assigned specific tasks. Each state-action pair is encoded in a Numpy npz file, which contains static and gripper-mounted camera images, proprioceptive states, and RGB-D images corresponding to the robot's future actions associated with that state.

搜集汇总

背景与挑战

背景概述

Task-Agnostic Real World Robot Play（又称Freiburg Franka Play）是一个由7-DoF机械臂和平行钳口抓手执行无定向操作任务的数据集，通过VR远程操作收集，每个状态-动作对以Numpy npz文件存储，包含RGB-D图像和本体感受状态，约1%的数据带有自然语言注释。该数据集由弗赖堡大学和埃尔朗根-纽伦堡大学于2023年发布。