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数据集 · Imperial College London (Stephen James et al.)

RLBench

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Simulation. No fixed pre-generated episode count: demos are generated on demand ('infinite supply'); v1.2.0 released 18 Feb 2022.

基本事实

机构
Imperial College London (Stephen James et al.)
形态标签
单臂 · 仿真
本体（按原文）
Franka Panda Arm (default) · Mico arm with Mico gripper · Jaco arm with 3-finger Jaco gripper · Sawyer arm with Baxter gripper · UR5 arm with Robotiq 85 gripper
轨迹数
待核实
小时数
待核实
帧数
待核实
任务
100
场景
待核实
模态
rgb · depth · state
格式
custom (CoppeliaSim/V-REP .ttm task files + Python task files; demonstrations generated on demand via motion planners)
许可证
Custom Imperial College London license (non-commercial academic research use only)
商用
不允许（原文）
发布
2019-09
体积
待核实
来源 · 6 条来源
embodiments https://github.com/stepjam/RLBench 官方页面 · 抓取 2026-09-18 · 尚未存快照 README: 'The default Franka Panda Arm can be swapped out for another' — Mico, Jaco, Sawyer, UR5 listed
tasks https://arxiv.org/abs/1909.12271 官方页面 · 抓取 2026-09-18 · 尚未存快照 Abstract: '100 completely unique, hand-designed tasks ranging in difficulty'
modalities https://arxiv.org/abs/1909.12271 官方页面 · 抓取 2026-09-18 · 尚未存快照 'proprioceptive observations and visual observations, which include rgb, depth, and segmentation masks from an over-the-shoulder stereo camera and an eye-in-hand monocular camera'
format https://github.com/stepjam/RLBench 官方页面 · 抓取 2026-09-18 · 尚未存快照 'Each task has 2 associated files: a V-REP model file (.ttm) ... and a python (.py) file'; abstract: 'infinite supply of demos through the use of motion planners'
license https://raw.githubusercontent.com/stepjam/RLBench/master/LICENSE 官方页面 · 抓取 2026-09-18 · 尚未存快照 Imperial College London license agreement; permits non-commercial academic research use only, prohibits commercial applications
release_date https://arxiv.org/abs/1909.12271 官方页面 · 抓取 2026-09-18 · 尚未存快照 Submitted 26 Sep 2019

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