- Description:
Cloth folding, bowl stacking
Source code:
tfds.robotics.rtx.Roboturk
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
45.39 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
199 |
'train' |
1,796 |
- Feature structure:
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
'rotation_delta': Tensor(shape=(3,), dtype=float32),
'terminate_episode': float32,
'world_vector': Tensor(shape=(3,), dtype=float32),
}),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'front_rgb': Image(shape=(480, 640, 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 | |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/front_rgb | Image | (480, 640, 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): Missing.
Citation:
@inproceedings{mandlekar2019scaling,
title={Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity},
author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={1048--1055},
year={2019},
organization={IEEE}
}