- Description:
UR5 planar pushing tasks
Homepage: https://github.com/columbia-ai-robotics/diffusion_policy
Source code:
tfds.robotics.rtx.ColumbiaCairlabPushtReal
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
2.80 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
14 |
'train' |
122 |
- Feature structure:
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({
'image': Image(shape=(240, 320, 3), dtype=uint8),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
'robot_state': Tensor(shape=(2,), dtype=float32, description=Robot end effector XY state),
'wrist_image': Image(shape=(240, 320, 3), dtype=uint8),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/gripper_closedness_action | Tensor | float32 | 1 if close gripper, -1 if open gripper, 0 if no change. | |
steps/action/rotation_delta | Tensor | (3,) | float32 | Delta change in roll, pitch, yaw. |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | Delta change in XYZ. |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (240, 320, 3) | uint8 | |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/observation/robot_state | Tensor | (2,) | float32 | Robot end effector XY state |
steps/observation/wrist_image | Image | (240, 320, 3) | uint8 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@inproceedings{chi2023diffusionpolicy,
title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
booktitle={Proceedings of Robotics: Science and Systems (RSS)},
year={2023}
}