Sapien-Kitchen

Sapien-Kitchen数据集描述了一个更复杂的环境，即 :( a)。它包含可变形的动作，例如 “打开” 和 “关闭”; (b)。同一类别中不同物体的结构高度多样化; (c)。可以使用随机分配的相对位置 (例如 “沿着墙壁” 和 “在洗碗机上”) 来初始化对象。我们从Sapien engine收集了3类共21种小型可移动物体，瓶子，水壶和厨房锅，以及另外3类烤箱，冰箱和洗碗机中的19种大型可打开电器。

The Sapien-Kitchen dataset describes a more complex environment, which includes: (a) deformable manipulation actions such as "open" and "close"; (b) highly diverse structures of objects within the same category; (c) the capability to initialize objects using randomly assigned relative positions, e.g., "along the wall" and "on the dishwasher". We collected 21 small movable objects across 3 categories (bottles, kettles, and kitchen pots) from the Sapien engine, as well as 19 large openable appliances across another 3 categories: ovens, refrigerators, and dishwashers.

搜集汇总

背景与挑战

背景概述

Sapien-Kitchen数据集描述了一个复杂环境，包含可变形的动作（如“打开”和“关闭”）和多样化的物体结构。数据集包含3类共21种小型可移动物体和3类共19种大型可打开电器，由英伟达、多伦多大学和矢量人工智能研究所于2022年联合发布。