DROID：大规模野外机器人操作数据集
机器人学
2025-04-23 v2
摘要
创建大型、多样化的高质量机器人操作数据集是通向更强大和更稳健机器人操作策略的重要一步。然而，创建此类数据集具有挑战性：在多样化环境中收集机器人操作数据会提出后勤和安全挑战，并需要在硬件和人力方面进行大量投入。结果，即使是最通用的机器人操作策略今天也主要是在数据收集于少数几个环境且场景和任务多样性有限的环境中进行训练。本文我们引入DROID(分布式机器人交互数据集)，这是一个拥有76000个演示轨迹或350小时交互数据的多样化机器人操作数据集，由50名数据收集者在北美、亚洲和欧洲跨越12个月收集，覆盖564个场景和84个任务。我们表明使用DROID训练可得更高性能的策略并提高了泛化能力。我们开源完整数据集、策略学习代码以及详细的机器人硬件设置复现指南。
引用
@article{arxiv.2403.12945,
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 Vitor Guizilini and David Antonio Herrera and Minho Heo and Kyle Hsu and Jiaheng Hu and Muhammad Zubair Irshad 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 O'Neill 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},
journal= {arXiv preprint arXiv:2403.12945},
year = {2025}
}
备注
Project website: https://droid-dataset.github.io/