|
---
|
|
license: cc-by-nc-sa-4.0
|
|
pretty_name: "RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios"
|
|
task_categories:
|
|
- robotics
|
|
---
|
|
|
|
# RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios
|
|
|
|
## Introduction
|
|
|
|
This repo contains several demonstration trajectories generated by [RoboCAS-v0](https://github.com/notFoundThisPerson/RoboCAS-v0).
|
|
Details can be found on GitHub.
|
|
|
|
## Dataset Structure
|
|
|
|
Trajectories are contained in the zip files,each contains the following tasks:
|
|
```
|
|
scattered.zip: Picking task in the scattered scene.
|
|
orderly.zip: Selecting task in the orderly scene.
|
|
stacked.zip: Searching task in the stacked scene.
|
|
```
|
|
Details can be found in the paper.
|
|
Each trajectory is arranged as the following structure:
|
|
```
|
|
.
|
|
|-- data_info.json # Overview of the dataset information, in dictionary format.
|
|
|-- episode_0000000 # Trajectory 0.
|
|
| |-- episode_info.npz # Actions and robot states in the trajectory.
|
|
| |-- gripper_camera # Data of the camera mounted on the gripper.
|
|
| | |-- cam_pos_wrt_${parent}.npy # Camera pose w.r.t. its parent link.
|
|
| | |-- intrinsic.npy # Intrinsic of this camera.
|
|
| | |-- rgb # RGB images in this trajectory.
|
|
| | | |-- 0000.png # Image at step 0.
|
|
| | | |-- ...
|
|
| | |-- depth # Depth images in this trajectory. Same structure as "rgb".
|
|
| | |-- ...
|
|
| |-- base_camera # Data of the camera mounted on the robot base. Same structure as "gripper_camera".
|
|
| | |-- ...
|
|
| |-- static_camera # Data of the camera mounted on the ground. Same structure as "gripper_camera".
|
|
| | |-- ...
|
|
|-- episode_0000001 # Same structure as "episode_0000000".
|
|
|-- ...
|
|
```
|
|
In each trajectory folder, the *episode_info.npz* file contains the trajectory of the agent, the structure and the explanations of each item is as follows.
|
|
All of the Quaternion in our dataset are stored in "xyzw" order.
|
|
All relative transforms are calculated under the frame of the last time step, i.e. $\Delta T_{t} = T_{t-1}^{-1} T_{t}$, where $\Delta T_{t}, T_{t} \in SE(3)$ are the relative action and the pose at time step $t$.
|
|
```
|
|
rel_pos # Relative position shift of the EEF w.r.t. the last EEF pose in Cartesian coordinate.
|
|
rel_orn # Relative orientation shift of the EEF w.r.t. the last EEF pose in Quaternion.
|
|
ee_pos # Absolute position of the EEF w.r.t. the arm base in Cartesian coordinate.
|
|
ee_orn # Absolute orientation of the EEF w.r.t. the arm base in Quaternion.
|
|
robot_joints # Joint angles of the arm.
|
|
arm_joint_vel # Velocities of the arm joints.
|
|
base_pos # Position of the arm base w.r.t. the world in Cartesian coordinate.
|
|
base_orn # Orientation of the arm base w.r.t. the world in Quaternion.
|
|
base_rel_pos # Relative position shift of the arm base w.r.t. the the pose in last step in Cartesian coordinate.
|
|
base_rel_orn # Relative orientation shift of the arm base w.r.t. the the pose in last step in Quaternion.
|
|
gripper_width # Open width of the gripper fingers.
|
|
gripper_status # Open/close command of the gripper.
|
|
episode_length # Length of the trajectory.
|
|
language_goal # Global goal instruction of this trajectory.
|
|
language_embedding # Embedding of the goal instruction generated by \href{https://huggingface.co/sentence-transformers/all-MiniLM-L6-v2}{Mini LAMMA}.
|
|
step_lang_goals # Goal annotation of the sub-task for each step of action in this trajectory.
|
|
step_goal_embs # Embedding of step goals generated by \href{https://huggingface.co/sentence-transformers/all-MiniLM-L6-v2}{Mini LAMMA}.
|
|
step_goal_type # Type of the sub-task goals in each step.
|
|
```
|
|
|
|
## Cite
|
|
```
|
|
@inproceedings{zheng2024robocas
|
|
title={RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios},
|
|
author={Liming Zheng and Feng Yan and Fanfan Liu and Chengjian Feng and Zhuoliang Kang and Lin Ma},
|
|
year={2024},
|
|
booktitle={NeurIPS: Datasets and Benchmarks Track}
|
|
}
|
|
```
|
|
|
|
|
|
|
|
|
