- Description:
Real dataset of 14 long horizon manipulation tasks. A mix of human play data and single robot arm data performing the same tasks.
Homepage: https://mimic-play.github.io/
Source code:
tfds.robotics.rtx.MimicPlay
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
7.14 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
378 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': string,
}),
'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({
'image': FeaturesDict({
'front_image_1': Image(shape=(120, 120, 3), dtype=uint8),
'front_image_2': Image(shape=(120, 120, 3), dtype=uint8),
}),
'state': FeaturesDict({
'ee_pose': Tensor(shape=(7,), dtype=float32),
'gripper_position': float32,
'joint_positions': Tensor(shape=(7,), dtype=float32),
'joint_velocities': Tensor(shape=(7,), dtype=float32),
}),
'wrist_image': FeaturesDict({
'wrist_image': Image(shape=(120, 120, 3), dtype=uint8),
}),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/file_path | Tensor | string | ||
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/image | FeaturesDict | |||
steps/observation/image/front_image_1 | Image | (120, 120, 3) | uint8 | |
steps/observation/image/front_image_2 | Image | (120, 120, 3) | uint8 | |
steps/observation/state | FeaturesDict | |||
steps/observation/state/ee_pose | Tensor | (7,) | float32 | |
steps/observation/state/gripper_position | Tensor | float32 | ||
steps/observation/state/joint_positions | Tensor | (7,) | float32 | |
steps/observation/state/joint_velocities | Tensor | (7,) | float32 | |
steps/observation/wrist_image | FeaturesDict | |||
steps/observation/wrist_image/wrist_image | Image | (120, 120, 3) | uint8 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@article{wang2023mimicplay,title={Mimicplay: Long-horizon imitation learning by watching human play},author={Wang, Chen and Fan, Linxi and Sun, Jiankai and Zhang, Ruohan and Fei-Fei, Li and Xu, Danfei and Zhu, Yuke and Anandkumar, Anima},journal={arXiv preprint arXiv:2302.12422},year={2023} }