ऑस्टिन_सेलर_डेटासेट_कन्वर्टेड_एक्सटर्नली_टू_आरएलडीएस

• विवरण :

फ्रेंका टेबलसेटिंग कार्य

• मुखपृष्ठ : https://ut-austin-rpl.github.io/sailor/

• स्रोत कोड : tfds.robotics.rtx.AustinSailorDatasetConvertedExternallyToRlds

• संस्करण :

  • 0.1.0 (डिफ़ॉल्ट): प्रारंभिक रिलीज़।

• डाउनलोड आकार : Unknown size

• डेटासेट का आकार : 18.85 GiB

• ऑटो-कैश्ड ( दस्तावेज़ीकरण ): नहीं

• विभाजन :

• फ़ीचर संरचना :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float32, description=Robot action, consists of [3x ee relative pos, 3x ee relative rotation, 1x gripper action].),
        'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'image': Image(shape=(128, 128, 3), dtype=uint8, description=Main camera RGB observation.),
            'state': Tensor(shape=(8,), dtype=float32, description=Default robot state, consists of [3x robot ee pos, 3x ee quat, 1x gripper state].),
            'state_ee': Tensor(shape=(16,), dtype=float32, description=End-effector state, represented as 4x4 homogeneous transformation matrix of ee pose.),
            'state_gripper': Tensor(shape=(1,), dtype=float32, description=Robot gripper opening width. Ranges between ~0 (closed) to ~0.077 (open)),
            'state_joint': Tensor(shape=(7,), dtype=float32, description=Robot 7-dof joint information (not used in original SAILOR dataset).),
            'wrist_image': Image(shape=(128, 128, 3), dtype=uint8, description=Wrist camera RGB observation.),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=True on last step of the episode.),
    }),
})

• फ़ीचर दस्तावेज़ीकरण :

• पर्यवेक्षित कुंजियाँ ( as_supervised doc देखें): None

• चित्र ( tfds.show_examples ): समर्थित नहीं है।

• उदाहरण ( tfds.as_dataframe ):

• उद्धरण :

@inproceedings{nasiriany2022sailor,
      title={Learning and Retrieval from Prior Data for Skill-based Imitation Learning},
      author={Soroush Nasiriany and Tian Gao and Ajay Mandlekar and Yuke Zhu},
      booktitle={Conference on Robot Learning (CoRL)},
      year={2022}
    }