berkeley_cable_routing

  • Keterangan :

Merutekan kabel ke klem di atas meja

Membelah Contoh
'test' 165
'train' 1.482
  • Struktur fitur :
FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Angular velocity about the z axis.),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32, description=Velocity in XYZ.),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'image': Image(shape=(128, 128, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'robot_state': Tensor(shape=(7,), dtype=float32),
            'top_image': Image(shape=(128, 128, 3), dtype=uint8),
            'wrist225_image': Image(shape=(128, 128, 3), dtype=uint8),
            'wrist45_image': Image(shape=(128, 128, 3), dtype=uint8),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
tangga Kumpulan data
langkah/tindakan FiturDict
langkah/tindakan/rotasi_delta Tensor (3,) float32 Kecepatan sudut terhadap sumbu z.
langkah/tindakan/terminate_episode Tensor float32
langkah/tindakan/world_vector Tensor (3,) float32 Kecepatan dalam XYZ.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/pengamatan FiturDict
langkah/pengamatan/gambar Gambar (128, 128, 3) uint8
langkah/pengamatan/natural_bahasa_embedding Tensor (512,) float32
langkah/pengamatan/instruksi_bahasa_alami Tensor rangkaian
langkah/pengamatan/robot_state Tensor (7,) float32
langkah/pengamatan/top_image Gambar (128, 128, 3) uint8
langkah/pengamatan/pergelangan tangan225_image Gambar (128, 128, 3) uint8
langkah/pengamatan/wrist45_image Gambar (128, 128, 3) uint8
langkah/hadiah Skalar float32
  • Kutipan :
@article{luo2023multistage,
  author    = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
  title     = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
  journal   = {arXiv pre-print},
  year      = {2023},
  url       = {https://arxiv.org/abs/2307.08927},
}