droid_100

该数据集是一个大规模的机器人操作数据集，名为DROID，包含在野外环境中的机器人操作数据。数据集包含100个episodes，32,212帧，47个任务和300个视频。数据集中包含多种观测数据，如图像（外部图像和手腕图像）、语言指令、状态观测、动作、时间戳等。数据集的结构信息详细描述了每个特征的形状和类型。数据集由LeRobot创建，相关论文为《DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset》。

原始信息汇总

数据集概述

基本信息

• 名称: lerobot/droid_100
• 主页: https://droid-dataset.github.io/
• 论文: https://arxiv.org/abs/2403.12945
• 许可证: MIT
• 任务类别: 机器人学
• 标签: LeRobot

数据集结构

• 总集数: 100
• 总帧数: 32212
• 总任务数: 47
• 总视频数: 300
• 总块数: 1
• 块大小: 1000
• 帧率: 15 fps
• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征

1. 观察图像:

   • exterior_image_1_left: 视频格式，分辨率180x320x3，帧率15 fps，编码AV1
   • exterior_image_2_left: 视频格式，分辨率180x320x3，帧率15 fps，编码AV1
   • wrist_image_left: 视频格式，分辨率180x320x3，帧率15 fps，编码AV1

2. 语言指令:

   • language_instruction: 字符串格式

3. 观察状态:

   • observation.state: 浮点数组，包含7个电机状态

4. 动作:

   • action: 浮点数组，包含7个电机动作

5. 其他:

   • timestamp: 时间戳
   • episode_index: 集索引
   • frame_index: 帧索引
   • next.reward: 奖励值
   • next.done: 完成标志
   • index: 索引
   • task_index: 任务索引

引用

bibtex @article{khazatsky2024droid, title = {DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset}, author = {Alexander Khazatsky and Karl Pertsch and Suraj Nair and Ashwin Balakrishna and Sudeep Dasari and Siddharth Karamcheti and Soroush Nasiriany and Mohan Kumar Srirama and Lawrence Yunliang Chen and Kirsty Ellis and Peter David Fagan and Joey Hejna and Masha Itkina and Marion Lepert and Yecheng Jason Ma and Patrick Tree Miller and Jimmy Wu and Suneel Belkhale and Shivin Dass and Huy Ha and Arhan Jain and Abraham Lee and Youngwoon Lee and Marius Memmel and Sungjae Park and Ilija Radosavovic and Kaiyuan Wang and Albert Zhan and Kevin Black and Cheng Chi and Kyle Beltran Hatch and Shan Lin and Jingpei Lu and Jean Mercat and Abdul Rehman and Pannag R Sanketi and Archit Sharma and Cody Simpson and Quan Vuong and Homer Rich Walke and Blake Wulfe and Ted Xiao and Jonathan Heewon Yang and Arefeh Yavary and Tony Z. Zhao and Christopher Agia and Rohan Baijal and Mateo Guaman Castro and Daphne Chen and Qiuyu Chen and Trinity Chung and Jaimyn Drake and Ethan Paul Foster and Jensen Gao and David Antonio Herrera and Minho Heo and Kyle Hsu and Jiaheng Hu and Donovon Jackson and Charlotte Le and Yunshuang Li and Kevin Lin and Roy Lin and Zehan Ma and Abhiram Maddukuri and Suvir Mirchandani and Daniel Morton and Tony Nguyen and Abigail ONeill and Rosario Scalise and Derick Seale and Victor Son and Stephen Tian and Emi Tran and Andrew E. Wang and Yilin Wu and Annie Xie and Jingyun Yang and Patrick Yin and Yunchu Zhang and Osbert Bastani and Glen Berseth and Jeannette Bohg and Ken Goldberg and Abhinav Gupta and Abhishek Gupta and Dinesh Jayaraman and Joseph J Lim and Jitendra Malik and Roberto Martín-Martín and Subramanian Ramamoorthy and Dorsa Sadigh and Shuran Song and Jiajun Wu and Michael C. Yip and Yuke Zhu and Thomas Kollar and Sergey Levine and Chelsea Finn}, year = {2024}, }