droid_100

该数据集是使用LeRobot创建的，包含机器人操作任务的数据。数据集结构包括多个特征，如观察图像、语言指令、观察状态、动作、时间戳、episode索引、帧索引、下一个奖励、下一个完成状态、索引和任务索引。数据集的总episode数为100，总帧数为32212，总任务数为47，总视频数为300，帧率为15fps。数据集的分割为训练集，包含所有episode。

原始信息汇总

数据集概述

基本信息

• 数据集名称: 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
• 相关标签: LeRobot
• 创建工具: LeRobot (https://github.com/huggingface/lerobot)

数据集规模

• 总情节数: 100
• 总帧数: 32212
• 总任务数: 47
• 总视频数: 300
• 总数据块数: 1
• 数据块大小: 1000
• 帧率: 15 FPS
• 数据分割: 训练集 (0:100)

数据结构

数据文件格式为 Parquet，存储路径模式为 data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet。 视频文件存储路径模式为 videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4。

数据特征

数据集包含以下特征：

观测特征

• observation.images.exterior_image_1_left: 视频数据，形状 (180, 320, 3)，帧率15 FPS，编码格式av1。
• observation.images.exterior_image_2_left: 视频数据，形状 (180, 320, 3)，帧率15 FPS，编码格式av1。
• observation.images.wrist_image_left: 视频数据，形状 (180, 320, 3)，帧率15 FPS，编码格式av1。
• observation.state: 浮点数组，形状 (7,)，对应7个电机状态。

指令与动作特征

• language_instruction: 字符串，自然语言指令。
• action: 浮点数组，形状 (7,)，对应7个电机动作。

元数据特征

• timestamp: 浮点数，时间戳。
• episode_index: 整数，情节索引。
• frame_index: 整数，帧索引。
• task_index: 整数，任务索引。
• index: 整数，索引。

强化学习特征

• next.reward: 浮点数，奖励信号。
• next.done: 布尔值，情节结束标志。

引用信息

如需引用本数据集，请使用以下BibTeX条目： 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}, }