- Description:
Hello robot opening cabinets, microwaves etc
Homepage: https://jyopari.github.io/VINN/
Source code:
tfds.robotics.rtx.NyuDoorOpeningSurprisingEffectiveness
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
7.12 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
49 |
'train' |
435 |
- Feature structure:
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Angular velocity around x, y and 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=(720, 960, 3), dtype=uint8),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/gripper_closedness_action | Tensor | (1,) | float32 | |
steps/action/rotation_delta | Tensor | (3,) | float32 | Angular velocity around x, y and z axis. |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | Velocity in XYZ. |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (720, 960, 3) | uint8 | |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@misc{pari2021surprising,
title={The Surprising Effectiveness of Representation Learning for Visual Imitation},
author={Jyothish Pari and Nur Muhammad Shafiullah and Sridhar Pandian Arunachalam and Lerrel Pinto},
year={2021},
eprint={2112.01511},
archivePrefix={arXiv},
primaryClass={cs.RO}
}