robonet

  • Description:

RoboNet contains over 15 million video frames of robot-object interaction, taken from 113 unique camera viewpoints.

@article{dasari2019robonet,
  title={RoboNet: Large-Scale Multi-Robot Learning},
  author={Dasari, Sudeep and Ebert, Frederik and Tian, Stephen and
  Nair, Suraj and Bucher, Bernadette and Schmeckpeper, Karl
  and Singh, Siddharth and Levine, Sergey and Finn, Chelsea},
  journal={arXiv preprint arXiv:1910.11215},
  year={2019}
}

robonet/robonet_sample_64 (default config)

  • Config description: 64x64 RoboNet Sample.

  • Download size: 119.80 MiB

  • Dataset size: 183.04 MiB

  • Auto-cached (documentation): Only when shuffle_files=False (train)

  • Splits:

Split Examples
'train' 700
  • Feature structure:
FeaturesDict({
    'actions': Tensor(shape=(None, 5), dtype=float32),
    'filename': Text(shape=(), dtype=string),
    'states': Tensor(shape=(None, 5), dtype=float32),
    'video': Video(Image(shape=(64, 64, 3), dtype=uint8)),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
actions Tensor (None, 5) float32
filename Text string
states Tensor (None, 5) float32
video Video(Image) (None, 64, 64, 3) uint8

robonet/robonet_sample_128

  • Config description: 128x128 RoboNet Sample.

  • Download size: 119.80 MiB

  • Dataset size: 638.98 MiB

  • Auto-cached (documentation): No

  • Splits:

Split Examples
'train' 700
  • Feature structure:
FeaturesDict({
    'actions': Tensor(shape=(None, 5), dtype=float32),
    'filename': Text(shape=(), dtype=string),
    'states': Tensor(shape=(None, 5), dtype=float32),
    'video': Video(Image(shape=(128, 128, 3), dtype=uint8)),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
actions Tensor (None, 5) float32
filename Text string
states Tensor (None, 5) float32
video Video(Image) (None, 128, 128, 3) uint8

robonet/robonet_64

  • Config description: 64x64 RoboNet.

  • Download size: 36.20 GiB

  • Dataset size: 41.37 GiB

  • Auto-cached (documentation): No

  • Splits:

Split Examples
'train' 162,417
  • Feature structure:
FeaturesDict({
    'actions': Tensor(shape=(None, 5), dtype=float32),
    'filename': Text(shape=(), dtype=string),
    'states': Tensor(shape=(None, 5), dtype=float32),
    'video': Video(Image(shape=(64, 64, 3), dtype=uint8)),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
actions Tensor (None, 5) float32
filename Text string
states Tensor (None, 5) float32
video Video(Image) (None, 64, 64, 3) uint8

robonet/robonet_128

  • Config description: 128x128 RoboNet.

  • Download size: 36.20 GiB

  • Dataset size: 144.90 GiB

  • Auto-cached (documentation): No

  • Splits:

Split Examples
'train' 162,417
  • Feature structure:
FeaturesDict({
    'actions': Tensor(shape=(None, 5), dtype=float32),
    'filename': Text(shape=(), dtype=string),
    'states': Tensor(shape=(None, 5), dtype=float32),
    'video': Video(Image(shape=(128, 128, 3), dtype=uint8)),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
actions Tensor (None, 5) float32
filename Text string
states Tensor (None, 5) float32
video Video(Image) (None, 128, 128, 3) uint8