- Description:
A dataset of high-qualty demonstration trajectories for Robosuite's Door, Stack, PickPlaceMilk, PickPlaceBread, PickPlaceCereal, and NutAssemblyRound tasks, 75 demonstrations per each.
Homepage: https://microsoft.github.io/PLEX/
Source code:
tfds.robotics.rtx.PlexRobosuite
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
1.27 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
402 |
'val' |
48 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'episode_id': string,
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'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': Image(shape=(128, 128, 3), dtype=uint8),
'state': Tensor(shape=(32,), dtype=float64),
'wrist_image': Image(shape=(128, 128, 3), dtype=uint8),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/episode_id | Tensor | string | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
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 | Image | (128, 128, 3) | uint8 | |
steps/observation/state | Tensor | (32,) | float64 | |
steps/observation/wrist_image | Image | (128, 128, 3) | uint8 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
https://doi.org/10.48550/arXiv.2303.08789