droid_merged_skills_wiping
收藏资源简介：
这是一个名为Merged DROID Skill Dataset: wiping的合并数据集，专门用于机器人擦拭技能任务。它整合了两个来源的数据：一个经过语言过滤的DROID技能子集（jellyho/droid_subsets_wiping）和新收集的环境数据（jellyho/droid_wipe_table）。数据集包含319个episodes和80582帧，涉及300个独特任务。状态和动作被标准化为8维向量：观察状态包括关节位置（0到6）和夹爪位置，动作包括关节速度（0到6）和夹爪位置。数据集提供视频数据（如手腕左侧和侧视图图像），并包含详细的元数据文件（如info.json、tasks.jsonl）和Parquet格式的数据文件。该数据集适用于机器人学习研究，特别是擦拭相关技能的模拟和训练。
This is the Merged DROID Skill Dataset: wiping, a specialized dataset dedicated to robotic wiping skill tasks. It integrates data from two sources: a language-filtered DROID skill subset (jellyho/droid_subsets_wiping) and newly collected environmental data (jellyho/droid_wipe_table). The dataset contains 319 episodes and 80,582 frames, involving 300 unique tasks. The states and actions are standardized into 8-dimensional vectors: the observation state includes joint positions (indices 0 to 6) and gripper position, while the actions consist of joint velocities (indices 0 to 6) and gripper position. Video data (such as left wrist and side-view images) is provided, along with detailed metadata files (e.g., info.json, tasks.jsonl) and data files in Parquet format. This dataset is suitable for robotic learning research, especially for the simulation and training of wiping-related skills.
数据集概述
数据集名称: Merged DROID Skill Dataset: wiping
数据集标识: jellyho/droid_merged_skills_wiping
许可协议: Apache-2.0
任务类别: 机器人学（Robotics）
数据来源
该数据集由两个来源的数据合并而成：
jellyho/droid_subsets_wiping（300个episode）jellyho/droid_wipe_table（19个episode）
数据集规模
- Episodes总数: 319
- Frames总数: 80,582
- 唯一任务数: 300
- 视频片段数: 638
状态与动作空间
观测状态和动作向量均被标准化为8维向量：
- observation.state: 包含7个关节位置和1个夹爪位置
[joint_position_0..6, gripper_position] - action: 包含7个关节速度和1个夹爪位置
[joint_velocity_0..6, gripper_position]
此外，原始列（如 action.joint_position、observation.state.joint_position 等）仍保留在Parquet文件中。
视频数据
包含两个摄像头视角的视频：
observation.images.wrist_leftobservation.images.side_view_1_left
代表性任务示例
| 任务描述 | Episodes数 |
|---|---|
| Use the towel to wipe the table. | 20 |
| Take the towel and clean the right part of the table | 1 |
| Use the left towel farthest from you to wipe the pan | 1 |
| Pick up the brush from the table and sweep the paper pieces. | 1 |
| Remove the wipe from the roll and put it on the left | 1 |
| Pick up the white cloth out of the basket and wipe the table with it | 1 |
| Use the green hand broom to sweep the top of the left washing machine | 1 |
| Clean the plate with the sponge | 1 |
| Use the blue cloth to wipe the white plate | 1 |
| Put the brush in the blue bowl | 1 |
文件结构
meta/info.json meta/tasks.jsonl meta/episodes.jsonl meta/episodes_stats.jsonl data/chunk-000/episode_.parquet videos/chunk-000/observation.images.wrist_left/episode_.mp4 episodes.csv merge_summary.json
