- Description:
Franka scooping and pouring tasks
Homepage: https://toto-benchmark.org/
Source code:
tfds.robotics.rtx.Toto
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
Unknown size
Auto-cached (documentation): Unknown
Splits:
Split | Examples |
---|
- Feature structure:
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'open_gripper': bool,
'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({
'image': Image(shape=(480, 640, 3), dtype=uint8),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
'state': Tensor(shape=(7,), dtype=float32, description=numpy array of shape (7,). Contains the robot joint states (as absolute joint angles) at each timestep),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/open_gripper | Tensor | bool | ||
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/image | Image | (480, 640, 3) | uint8 | |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/observation/state | Tensor | (7,) | float32 | numpy array of shape (7,). Contains the robot joint states (as absolute joint angles) at each timestep |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
@inproceedings{zhou2023train,
author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
title={Train Offline, Test Online: A Real Robot Learning Benchmark},
year={2023},
}