机器人技能学习--数据集剖析

前言

?? 一切为了能自己构建属于自己的数据集，所以，从现有数据集剖析入手。
?? 目前，基于 MimicGen 官方提供的数据集，初始数据集有11组，其中，每组数据中，包含10个demo，每个 demo 的数据构成是一样的，只是轨迹和物体的姿态不一样。

数据总览

为简化工作流程，在本文中，若无特殊标记，均为针对 stack.hdf5 数据集的解析：

        -data
    		--  attr: env_args
		    --  attr: total
			--  demo_0 # 10 组
	   			--- attr: model_file
			    --- arrt: num_samples
				--- actions
				--- dones
				--- rewards
		  	    --- states
				--- obs
					---- agentview_image
					---- object
   					---- robot0_eef_pos
   					---- robot0_eef_quat
   					---- robot0_eef_vel_ang
   					---- robot0_eef_vel_lin
   					---- robot0_eye_in_hand_image
   					---- robot0_gripper_qpos
   					---- robot0_gripper_qvel
   					---- robot0_joint_pos
   					---- robot0_joint_pos_cos
   					---- robot0_joint_pos_sin
   					---- robot0_joint_vel
			-- demo_1
			-- ......
			-- demo_9
		-mask
			-- first_10

针对不同关键词及对应数据的解释，其中 / 表示未知：

Key	Description	Dim	Get	Robomimic使用方法	Note
env_args(attr)	基础配置信息	string	人工定义	/	包含场景名称、控制器（OSC_POSE）等信息
total(attr)	/	1001	/	/	/
model_file(attr)	场景信息	string	人工定义	/	详细配置参数，包括机器人位置，物体位姿、属性等
num_samples(attr)	轨迹点数量	87	计算	/	/
actions	动作	87 * 7	示教	/	与控制器类型对应，表示(x, y, z, r, p, y, -1/1)，前6位表姿态，最后一位表示夹具状态，-1表示打开状态，1表示闭合状态
dones	是否完成任务	87	/	/	前82位为0，后5位为1
rewards	奖励参数	87	/	/	前82位为0.0，后5位为1.0
states	状态	87 * 45	/	/	Mujoco表示状态的方式 *
object	物体表示	87 * 23	/	/	/
robot0_eef_pos	机器人末端位置	87 * 3	示教	/	x, y, z
robot0_eef_quat	末端姿态	87 * 4	示教	/	qw, qx, qy, qz
robot0_eef_vel_ang	末端角速度	87 * 3	/	/
robot0_eef_vel_lin	末端线速度	87 * 3	/	/
robot0_gripper_qpos	夹具(关节)位置	87 * 2
robot0_gripper_qvel	夹具速度	87 * 2
robot0_joint_pos	7Dof关节位置	87 * 7
robot0_joint_pos_cos	/	87 * 7
robot0_joint_pos_sin	/	87 * 7
robot0_joint_vel	关节速度	87 * 7

数据介绍

actions

前 10 组数据为：

[0.11900000000000001, -0.027, -0.163, -0.0027573707047849894, 0.09558416903018951, 0.018667636439204216, -1.0]
[0.22200000000000003, -0.004, -0.247, -0.001246497966349125, 0.09782034158706665, 0.02653670310974121, -1.0]
[0.35500000000000004, -0.158, -0.35200000000000004, 0.01000046357512474, 0.08761297911405563, 0.04865993559360504, -1.0]
[0.398, -0.08, -0.515, 0.008693302050232887, 0.07150734215974808, 0.08536489307880402, -1.0]
[0.45799999999999996, -0.056999999999999995, -0.545, 0.006539663765579462, 0.05647878348827362, 0.11847471445798874, -1.0]
[0.439, 0.076, -0.594, -0.00130382867064327, 0.04076612368226051, 0.14484722912311554, -1.0]
[0.439, 0.11199999999999999, -0.599, -0.009466821327805519, 0.025265417993068695, 0.16476278007030487, -1.0]
[0.384, 0.181, -0.542, -0.00946812517940998, 0.02268858812749386, 0.1813860535621643, -1.0]
[0.344, 0.13699999999999998, -0.543, -0.010094424709677696, 0.01842835173010826, 0.19724716246128082, -1.0]
[0.303, 0.131, -0.553, -0.008746521547436714, 0.00791255198419094, 0.21429434418678284, -1.0]

robot0_eef_pose

前 10 组数据为：

[-0.10677228640382701, -0.007912818970765859, 0.9978511242350278]
[-0.10621354303360744, -0.006935816058219822, 0.9979395750460012]
[-0.10536093958873115, -0.006315994512394012, 0.9957368956011524]
[-0.10292113662390937, -0.006428708338244041, 0.9913538586666457]
[-0.09888318372052782, -0.006433863197485929, 0.985309696980578]
[-0.09367487660808188, -0.006261336940084016, 0.9782275947352779]
[-0.08798568739163559, -0.005638058018654422, 0.9705599359873655]
[-0.08209873483921205, -0.004743362303315956, 0.962652752983167]
[-0.07657093954923748, -0.003287089779160534, 0.9550401634889241]
[-0.07158081623646902, -0.001681889698740893, 0.9477366260562331]

robot0_eef_quat

前 10 组数据为：

[0.9987497020281128, -0.005340784012888566, 0.04969201885270823, 0.0011009029139912377]
[0.998764328193982, -0.0037890852616592205, 0.049544501455921285, 0.0008955085639633759]
[0.9989091769069497, -0.0020599392656113213, 0.04664085209166352, 0.0009186171488014434]
[0.999086829166481, -0.0004595555938569085, 0.04271319705277585, 0.0009377591661813914]
[0.9992429301494844, 0.0028395374951761805, 0.038795429035699124, 0.0006467294813540437]
[0.9993372250884551, 0.008313254230825684, 0.0354395485249257, 0.00019686784783459234]
[0.9993433766030909, 0.015947470957228708, 0.03253290289028111, -0.0003225509772582462]
[0.9992261832040216, 0.025115127092460332, 0.030262966085433277, -0.0006465867030544439]
[0.9989703212844835, 0.03539576655809851, 0.028364696315765554, -0.0009385656368913736]
[0.9985707083451394, 0.04633552838823607, 0.02661470086373277, -0.0011031509432972032]

states

ipdb> f['data']['demo_0']['states'][0]
array([ 0.        ,  0.00566507,  0.23094458, -0.01965714, -2.60890608,
        0.01534579,  2.93922448,  0.7684602 ,  0.020833  , -0.020833  ,
       -0.07533379,  0.00950491,  0.83      , -0.89364334,  0.        ,
        0.        ,  0.44877787, -0.02757463,  0.07990465,  0.835     ,
        0.59937795,  0.        ,  0.        ,  0.80046616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ])
ipdb> f['data']['demo_0']['states'][-1]
array([ 4.30000000e+00,  5.59799918e-02,  7.21294844e-01,  7.20511426e-02,
       -2.15581180e+00, -1.09002756e-01,  2.89116760e+00,  6.91851452e-01,
        3.40614251e-02, -3.39791898e-02, -1.38892392e-02,  8.35409363e-02,
        8.69026681e-01, -8.13647281e-01,  1.67608256e-03,  2.73918668e-03,
        5.81349971e-01, -2.75145818e-02,  7.99156301e-02,  8.24690121e-01,
        5.99382437e-01,  8.13167534e-04,  8.85709985e-04,  8.00461897e-01,
        5.07794596e-02, -3.80039429e-03, -2.87840718e-02, -5.71935216e-02,
       -4.75354677e-02,  1.49040575e-01,  9.27308822e-02,  5.80022004e-02,
       -5.79495064e-02,  2.90350009e-03, -1.17890268e-03,  4.38212894e-03,
       -1.20456301e-01,  1.09043320e-01,  2.78845797e-04, -2.27485074e-05,
        4.12241415e-05, -1.23992816e-04, -4.21637708e-04,  1.86013180e-03,
       -6.15372096e-06])

object

ipdb> f['data']['demo_0']['obs']['object'][0]
array([-0.07533379,  0.00950491,  0.83      ,  0.        ,  0.        ,
        0.44877787, -0.89364334, -0.02757463,  0.07990465,  0.835     ,
        0.        ,  0.        ,  0.80046616,  0.59937795,  0.03143849,
        0.01741772, -0.16785112,  0.07919765,  0.08781747, -0.16285112,
        0.04775916,  0.07039975,  0.005     ])
ipdb> f['data']['demo_0']['obs']['object'][-1]
array([-1.38892392e-02,  8.35409363e-02,  8.69026681e-01,  1.67608256e-03,
        2.73918668e-03,  5.81349971e-01, -8.13647281e-01, -2.75145818e-02,
        7.99156301e-02,  8.24690121e-01,  8.13167534e-04,  8.85709985e-04,
        8.00461897e-01,  5.99382437e-01,  9.96283912e-03,  2.85510509e-03,
       -8.71079446e-03, -3.66250354e-03, -7.70201109e-04, -5.30473545e-02,
       -1.36253427e-02, -3.62530620e-03, -4.43365600e-02])

参考资料

robomimic-study