- Keterangan :
Kumpulan data nyata dari satu lengan robot yang menunjukkan 12 keterampilan manipulasi non-sepele dalam 38 tugas, 7500 lintasan.
Beranda : https://robopen.github.io/
Kode sumber :
tfds.robotics.rtx.RoboSetVersi :
-
0.1.0(default): Rilis awal.
-
Ukuran unduhan :
Unknown sizeUkuran kumpulan data :
179.42 GiBCache otomatis ( dokumentasi ): Tidak
Perpecahan :
| Membelah | Contoh |
|---|---|
'train' | 18.250 |
- Struktur fitur :
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': string,
'trial_id': string,
}),
'steps': Dataset({
'action': Tensor(shape=(8,), dtype=float32),
'discount': Scalar(shape=(), dtype=float32),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'language_instruction': string,
'observation': FeaturesDict({
'image_left': Image(shape=(240, 424, 3), dtype=uint8),
'image_right': Image(shape=(240, 424, 3), dtype=uint8),
'image_top': Image(shape=(240, 424, 3), dtype=uint8),
'image_wrist': Image(shape=(240, 424, 3), dtype=uint8),
'state': Tensor(shape=(8,), dtype=float32),
'state_velocity': Tensor(shape=(8,), dtype=float32),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Dokumentasi fitur :
| Fitur | Kelas | Membentuk | Tipe D | Keterangan |
|---|---|---|---|---|
| FiturDict | ||||
| episode_metadata | FiturDict | |||
| episode_metadata/file_path | Tensor | rangkaian | ||
| episode_metadata/trial_id | Tensor | rangkaian | ||
| tangga | Kumpulan data | |||
| langkah/tindakan | Tensor | (8,) | float32 | |
| langkah/diskon | Skalar | float32 | ||
| langkah/adalah_pertama | Tensor | bodoh | ||
| langkah/adalah_terakhir | Tensor | bodoh | ||
| langkah/is_terminal | Tensor | bodoh | ||
| langkah/bahasa_instruksi | Tensor | rangkaian | ||
| langkah/pengamatan | FiturDict | |||
| langkah/pengamatan/gambar_kiri | Gambar | (240, 424, 3) | uint8 | |
| langkah/pengamatan/image_right | Gambar | (240, 424, 3) | uint8 | |
| langkah/pengamatan/image_top | Gambar | (240, 424, 3) | uint8 | |
| langkah/pengamatan/image_wrist | Gambar | (240, 424, 3) | uint8 | |
| langkah/pengamatan/keadaan | Tensor | (8,) | float32 | |
| langkah/pengamatan/state_velocity | Tensor | (8,) | float32 | |
| langkah/hadiah | Skalar | float32 |
Kunci yang diawasi (Lihat dokumen
as_supervised):NoneGambar ( tfds.show_examples ): Tidak didukung.
Contoh ( tfds.as_dataframe ):
- Kutipan :
@misc{bharadhwaj2023roboagent, title={RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking}, author={Homanga Bharadhwaj and Jay Vakil and Mohit Sharma and Abhinav Gupta and Shubham Tulsiani and Vikash Kumar}, year={2023}, eprint={2309.01918}, archivePrefix={arXiv}, primaryClass={cs.RO} }