| --- |
| license: apache-2.0 |
| --- |
| |
| # RoboMemArena |
| 数据集文件元信息以及数据文件，请浏览“数据集文件”页面获取。 |
|
|
| 当前数据集卡片使用的是默认模版，数据集的贡献者未提供更加详细的数据集介绍，但是您可以通过如下GIT Clone命令，或者ModelScope SDK来下载数据集 |
|
|
| 下载方法 |
|
|
| ## Task Categories |
|
|
| This dataset contains four categories of tasks: |
|
|
| | Category | Description | Task IDs | |
| |---|---|---| |
| | **Multi-Sequence** | Tasks requiring execution of multiple sequential sub-steps | Task1, Task2, Task3, Task22 | |
| | **Multi-Occlusion** | Tasks involving occluded or hidden objects | Task4, Task5, Task11, Task12, Task13, Task14, Task17, Task20, Task21, Task23, Task24 | |
| | **Multi-Counting** | Tasks requiring repeated actions, such as pouring twice | Task6, Task7, Task8, Task9, Task10, Task15, Task16 | |
| | **Multi-Transferring** | Tasks involving transferring objects between locations | Task18, Task19, Task25, Task26 | |
|
|
| ## Task Table |
|
|
| Table 6: Benchmark task descriptions. The complete benchmark task table is organized into four task-suite-specific tables. |
|
|
| ### Multi-Object Transferring |
|
|
| <table> |
| <thead> |
| <tr> |
| <th>Task Name</th> |
| <th>Memory Type</th> |
| <th>Avg. #Steps</th> |
| <th>Task Challenge</th> |
| <th>Brief Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr><td>Transfer Chocolate Butter(Task26)</td><td>T</td><td>866</td><td>transferring</td><td>Pick and place chocolate and butter from plate1 to plate2, respectively.</td></tr> |
| <tr><td>Transfer Butter Cream(Task25)</td><td>T</td><td>779</td><td>transferring</td><td>Pick and place butter and cream from plate1 to plate2, respectively.</td></tr> |
| <tr><td>Transfer chocolate butter(Task18)</td><td>T</td><td>779</td><td>transferring</td><td>Pick and place chocolate and butter from cabinet1 to cabinet2, respectively.</td></tr> |
| <tr><td>Transfer Sauce Milk Juice(Task19)</td><td>T</td><td>1265</td><td>transferring</td><td>Pick and place tomato sauce, milk, and orange juice from cabinet1 to cabinet2.</td></tr> |
| </tbody> |
| </table> |
| |
| ### Multi-Object Occlusion |
|
|
| <table> |
| <thead> |
| <tr> |
| <th>Task Name</th> |
| <th>Memory Type</th> |
| <th>Avg. #Steps</th> |
| <th>Task Challenge</th> |
| <th>Brief Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr><td>Put Butter in Not-Empty Drawer(Task4)</td><td>O</td><td>1020</td><td>occlusion</td><td>Open all drawers in order. Put butter into the drawer that already contains an object.</td></tr> |
| <tr><td>Put Butter in Empty Drawer(Task5)</td><td>O</td><td>1806</td><td>occlusion</td><td>Open all drawers in order. Put butter into the empty drawer.</td></tr> |
| <tr><td>Put Cookies Butter into Drawer Respectively(Task11)</td><td>O + C</td><td>1835</td><td>occlusion, multi-placement</td><td>Open all drawers in order. Put cookies into the top drawer and put butter into another drawer.</td></tr> |
| <tr><td>Put Cookies Chocolate into Middle Drawer(Task12)</td><td>O</td><td>1370</td><td>occlusion</td><td>Open all drawers in order. Put cookies into the middle drawer and then put chocolate into the same drawer.</td></tr> |
| <tr><td>Put Butter Cookies into Middle Drawer(Task13)</td><td>O</td><td>1377</td><td>occlusion</td><td>Open all drawers in order. Put butter into the middle drawer and then put cookies into the same drawer.</td></tr> |
| <tr><td>Put Cookies Chocolate into Drawer Respectively(Task14)</td><td>O</td><td>1832</td><td>occlusion, multi-placement</td><td>Open all drawers in order. Put cookies into the top drawer and put chocolate into another drawer.</td></tr> |
| <tr><td>Put Butter Chocolate into Middle Drawer(Task17)</td><td>O</td><td>1502</td><td>occlusion</td><td>Open all drawers in order. Put butter into the middle drawer and then put chocolate into the same drawer.</td></tr> |
| <tr><td>Put Cookies Chocolate into Microwave(Task20)</td><td>O</td><td>1195</td><td>occlusion</td><td>Put cookies into the microwave and then put chocolate into the location where the cookies were placed.</td></tr> |
| <tr><td>Put Butter Chocolate into Microwave(Task21)</td><td>O</td><td>1175</td><td>occlusion</td><td>Put butter into the microwave and then put chocolate into the location where the butter was placed.</td></tr> |
| <tr><td>Put Cream Popcorn into Microwave(Task23)</td><td>O</td><td>1175</td><td>occlusion</td><td>Put cream into the microwave and then put popcorn into the location where the cream was placed.</td></tr> |
| <tr><td>Put Cookies Popcorn into Microwave(Task24)</td><td>O</td><td>1195</td><td>occlusion</td><td>Put cookies into the microwave and then put popcorn into the location where the cookies were placed.</td></tr> |
| </tbody> |
| </table> |
| |
| ### Multi-Object Counting |
|
|
| <table> |
| <thead> |
| <tr> |
| <th>Task Name</th> |
| <th>Memory Type</th> |
| <th>Avg. #Steps</th> |
| <th>Task Challenge</th> |
| <th>Brief Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr><td>Pour Sauce on Cookies x2 Place Sauce into Drainer(Task6)</td><td>C + O</td><td>624</td><td>counting, occlusion</td><td>Pour tomato sauce over cookies twice and place the sauce bottle into the bowl drainer.</td></tr> |
| <tr><td>Pour Sauce on Frypan x2 Place Sauce into Drainer(Task7)</td><td>C + O</td><td>537</td><td>counting, occlusion</td><td>Pour tomato sauce over the frypan twice and place the sauce bottle into the bowl drainer.</td></tr> |
| <tr><td>Pour Sauce Twice over Chocolate in Frypan Place Sauce into Drainer(Task8)</td><td>C</td><td>910</td><td>counting</td><td>Pick and place chocolate into the frypan, pour tomato sauce over it twice, then place the sauce bottle into the bowl drainer.</td></tr> |
| <tr><td>Pour Sauce x2 over Butter in Frypan(Task9)</td><td>C</td><td>958</td><td>counting</td><td>Put butter into the frypan and pour sauce over it twice.</td></tr> |
| <tr><td>Pour Wine into Mug Twice(Task10)</td><td>C</td><td>472</td><td>counting</td><td>Pour wine into the mug twice.</td></tr> |
| <tr><td>Pour Milk Twice over Butter in Frypan(Task15)</td><td>C</td><td>1055</td><td>counting</td><td>Pick and place butter into the frypan, then pour milk over it twice.</td></tr> |
| <tr><td>Pour Milk x2 over Mug Place Milk into Drainer(Task16)</td><td>C + O</td><td>594</td><td>counting, occlusion</td><td>Pick milk from the table, pour it into the mug twice, then place the milk container into the bowl drainer.</td></tr> |
| </tbody> |
| </table> |
| |
| ### Multi-Object Sequence |
|
|
| <table> |
| <thead> |
| <tr> |
| <th>Task Name</th> |
| <th>Memory Type</th> |
| <th>Avg. #Steps</th> |
| <th>Task Challenge</th> |
| <th>Brief Description</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr><td>Put Cookies Sauce into Basket in Order(Task1)</td><td>S</td><td>742</td><td>sequence</td><td>Pick and place cookies into the basket, then pick and place tomato sauce into the same basket.</td></tr> |
| <tr><td>Put Butter Popcorn into Basket in Order(Task2)</td><td>S</td><td>708</td><td>sequence</td><td>Pick and place butter into the basket, then pick and place popcorn into the same basket.</td></tr> |
| <tr><td>Put Cream Chocolate into Basket in Order(Task3)</td><td>S</td><td>708</td><td>sequence</td><td>Pick and place cream into the basket, then pick and place chocolate into the same basket.</td></tr> |
| <tr><td>Pour Sauce x2 Put Cookies into Microwave（Task22）</td><td>S</td><td>1565</td><td>sequence</td><td>Pour tomato sauce over cookies twice, then put the cookies into the microwave.</td></tr> |
| </tbody> |
| </table> |
| |
