स्टैनफोर्ड_मास्क_विट_कन्वर्ट_एक्सटर्नली_टू_आरएलडीएस

• विवरण :

सॉयर कूड़ेदान में वस्तुओं को धकेलता और उठाता हुआ

• मुखपृष्ठ : https://arxiv.org/abs/2206.11894

• स्रोत कोड : tfds.robotics.rtx.StanfordMaskVitConvertedExternallyToRlds

• संस्करण :

  • 0.1.0 (डिफ़ॉल्ट): प्रारंभिक रिलीज़।

• डाउनलोड आकार : Unknown size

• डेटासेट का आकार : 76.17 GiB

• ऑटो-कैश्ड ( दस्तावेज़ीकरण ): नहीं

• विभाजन :

• फ़ीचर संरचना :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(5,), dtype=float32, description=Robot action, consists of [3x change in end effector position, 1x gripper yaw, 1x open/close gripper (-1 means to open the gripper, 1 means close)].),
        'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'end_effector_pose': Tensor(shape=(5,), dtype=float32, description=Robot end effector pose, consists of [3x Cartesian position, 1x gripper yaw, 1x gripper position]. This is the state used in the MaskViT paper.),
            'finger_sensors': Tensor(shape=(1,), dtype=float32, description=1x Sawyer gripper finger sensors.),
            'high_bound': Tensor(shape=(5,), dtype=float32, description=High bound for end effector pose normalization. Consists of [3x Cartesian position, 1x gripper yaw, 1x gripper position].),
            'image': Image(shape=(480, 480, 3), dtype=uint8, description=Main camera RGB observation.),
            'low_bound': Tensor(shape=(5,), dtype=float32, description=Low bound for end effector pose normalization. Consists of [3x Cartesian position, 1x gripper yaw, 1x gripper position].),
            'state': Tensor(shape=(15,), dtype=float32, description=Robot state, consists of [7x robot joint angles, 7x robot joint velocities,1x gripper position].),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})

• फ़ीचर दस्तावेज़ीकरण :

• पर्यवेक्षित कुंजियाँ ( as_supervised doc देखें): None

• चित्र ( tfds.show_examples ): समर्थित नहीं है।

• उदाहरण ( tfds.as_dataframe ): गुम है।

• उद्धरण :

@inproceedings{gupta2022maskvit,
  title={MaskViT: Masked Visual Pre-Training for Video Prediction},
  author={Agrim Gupta and Stephen Tian and Yunzhi Zhang and Jiajun Wu and Roberto Martín-Martín and Li Fei-Fei},
  booktitle={International Conference on Learning Representations},
  year={2022}
}