- Description:
A set of object manipulation trajectories collected at Microsoft Research on a WidowX-250 robot in a setup and format compatible with UC Berkeley's BridgeData V2 (https://rail-berkeley.github.io/bridgedata/)
Homepage: https://www.microsoft.com/en-us/download/details.aspx?id=105937
Source code:
tfds.robotics.rtx.BridgeDataMsr
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
21.54 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
822 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': string,
'has_depth_0': Scalar(shape=(), dtype=bool),
'has_image_0': Scalar(shape=(), dtype=bool),
'has_image_1': Scalar(shape=(), dtype=bool),
'has_image_2': Scalar(shape=(), dtype=bool),
'has_language': Scalar(shape=(), dtype=bool),
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float32),
'discount': Scalar(shape=(), dtype=float32),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'language_embedding': Tensor(shape=(512,), dtype=float32),
'language_instruction': string,
'observation': FeaturesDict({
'depth_0': Image(shape=(480, 640, 1), dtype=uint8),
'image_0': Image(shape=(480, 640, 3), dtype=uint8),
'image_1': Image(shape=(480, 640, 3), dtype=uint8),
'image_2': Image(shape=(480, 640, 3), dtype=uint8),
'state': Tensor(shape=(7,), dtype=float32),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/file_path | Tensor | string | ||
episode_metadata/has_depth_0 | Scalar | bool | ||
episode_metadata/has_image_0 | Scalar | bool | ||
episode_metadata/has_image_1 | Scalar | bool | ||
episode_metadata/has_image_2 | Scalar | bool | ||
episode_metadata/has_language | Scalar | bool | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float32 | |
steps/discount | Scalar | float32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/language_embedding | Tensor | (512,) | float32 | |
steps/language_instruction | Tensor | string | ||
steps/observation | FeaturesDict | |||
steps/observation/depth_0 | Image | (480, 640, 1) | uint8 | |
steps/observation/image_0 | Image | (480, 640, 3) | uint8 | |
steps/observation/image_1 | Image | (480, 640, 3) | uint8 | |
steps/observation/image_2 | Image | (480, 640, 3) | uint8 | |
steps/observation/state | Tensor | (7,) | float32 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation: