berkeley_autolab_ur5

  • Keterangan :

UR5 melakukan manipulasi kain, memilih tempat, dll

Membelah Contoh
'test' 104
'train' 896
  • Struktur fitur :
FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': float32,
            'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Delta change in roll, pitch, yaw.),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32, description=Delta change in XYZ.),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'hand_image': Image(shape=(480, 640, 3), dtype=uint8),
            'image': Image(shape=(480, 640, 3), dtype=uint8),
            'image_with_depth': Image(shape=(480, 640, 1), dtype=float32),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'robot_state': Tensor(shape=(15,), dtype=float32, description=Explanation of the robot state can be found at https://sites.google.com/corp/view/berkeley-ur5),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
tangga Kumpulan data
langkah/tindakan FiturDict
langkah/tindakan/gripper_closedness_action Tensor float32 1 jika gripper tertutup, -1 jika gripper terbuka, 0 jika tidak ada perubahan.
langkah/tindakan/rotasi_delta Tensor (3,) float32 Perubahan delta pada gerakan roll, pitch, yaw.
langkah/tindakan/terminate_episode Tensor float32
langkah/tindakan/world_vector Tensor (3,) float32 Perubahan delta di XYZ.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/pengamatan FiturDict
langkah/pengamatan/gambar_tangan Gambar (480, 640, 3) uint8
langkah/pengamatan/gambar Gambar (480, 640, 3) uint8
langkah/pengamatan/gambar_dengan_kedalaman Gambar (480, 640, 1) float32
langkah/pengamatan/penyematan_bahasa_alami Tensor (512,) float32
langkah/pengamatan/instruksi_bahasa_alami Tensor rangkaian
langkah/pengamatan/robot_state Tensor (15,) float32 Penjelasan status robot dapat ditemukan di https://sites.google.com/corp/view/berkeley-ur5
langkah/hadiah Skalar float32
  • Kutipan :
@misc{BerkeleyUR5Website,
  title = {Berkeley {UR5} Demonstration Dataset},
  author = {Lawrence Yunliang Chen and Simeon Adebola and Ken Goldberg},
  howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}