PFN-PIC (PFN Picking Instructions for Commodities Dataset)

该数据集是用于机器人系统拾取和放置常见对象的口语指令集合。提供了文字说明和相应的对象图像。数据集包含操作员指示机器人拾取特定对象并将其移动到另一个位置的情况：例如，将蓝色和白色的纸巾盒移动到右上角的箱子。该数据集由 RGBD 图像、边界框注释、目标框注释和文本说明组成。

This dataset is a collection of spoken instructions for robotic pick-and-place tasks involving common everyday objects. It provides textual descriptions and corresponding images of the target objects. The dataset encompasses scenarios where an operator commands a robot to pick up a specific object and relocate it to another position; a representative example is moving the blue-and-white tissue box to the box situated in the upper-right corner. This dataset consists of RGBD images, bounding box annotations, target bounding box annotations, and textual descriptions.

搜集汇总

背景与挑战

背景概述

PFN-PIC是一个用于机器人系统执行拾放操作的口语指令数据集，包含文字说明、对象图像、RGBD图像以及边界框和目标框注释。该数据集由Preferred Networks, Inc.于2018年发布，旨在通过自然语言指令指导机器人处理常见对象。