taco_play

• Descripción :

Brazo de Franka interactuando con la cocina.

• Página de inicio : https://www.kaggle.com/datasets/oiermees/taco-robot

• Código fuente : tfds.robotics.rtx.TacoPlay

• Versiones :

  • 0.1.0 (predeterminado): versión inicial.

• Tamaño de descarga : Unknown size

• Tamaño del conjunto de datos : 47.77 GiB

• Almacenamiento en caché automático ( documentación ): No

• Divisiones :

• Estructura de características :

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'actions': Tensor(shape=(7,), dtype=float32, description=absolute desired values for gripper pose (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)),
            'rel_actions_gripper': Tensor(shape=(7,), dtype=float32, description=relative actions for gripper pose in the gripper camera frame (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)),
            'rel_actions_world': Tensor(shape=(7,), dtype=float32, description=relative actions for gripper pose in the robot base frame (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)),
            'terminate_episode': float32,
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'depth_gripper': Tensor(shape=(84, 84), dtype=float32),
            'depth_static': Tensor(shape=(150, 200), dtype=float32),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'rgb_gripper': Image(shape=(84, 84, 3), dtype=uint8),
            'rgb_static': Image(shape=(150, 200, 3), dtype=uint8, description=RGB static image of shape. (150, 200, 3). Subsampled from (200,200, 3) image.),
            'robot_obs': Tensor(shape=(15,), dtype=float32, description=EE position (3), EE orientation in euler angles (3), gripper width (1), joint positions (7), gripper action (1)),
            'structured_language_instruction': string,
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Documentación de funciones :

• Claves supervisadas (ver documento as_supervised ): None

• Figura ( tfds.show_examples ): no compatible.

• Ejemplos ( tfds.as_dataframe ): Falta.

• Cita :

@inproceedings{rosete2022tacorl,
author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
journal = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
year = {2022}
}
@inproceedings{mees23hulc2,
title={Grounding  Language  with  Visual  Affordances  over  Unstructured  Data},
author={Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
address = {London, UK}
}