utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds

• Tanım :

PR2 masa üstü manipülasyonu (kumaş katlama, toplama)

• Ana sayfa : --

• Kaynak kodu : tfds.robotics.rtx.UtokyoPr2TabletopManipulationConvertedExternallyToRlds

• Sürümler :

  • 0.1.0 (varsayılan): İlk sürüm.

• İndirme boyutu : Unknown size

• Veri kümesi boyutu : 829.37 MiB

• Otomatik önbelleğe alınmış ( belgeler ): Hayır

• Bölünmeler :

• Özellik yapısı :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(8,), dtype=float32, description=Robot action, consists of [3x end effector pos, 3x robot rpy angles, 1x gripper open/close command, 1x terminal action].),
        '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({
            'image': Image(shape=(128, 128, 3), dtype=uint8, description=Main camera RGB observation.),
            'state': Tensor(shape=(7,), dtype=float32, description=Robot state, consists of [3x end effector pos, 3x robot rpy angles, 1x gripper position].),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})

• Özellik belgeleri :

• Denetlenen anahtarlar ( as_supervised belgesine bakın): None

• Şekil ( tfds.show_examples ): Desteklenmiyor.

• Örnekler ( tfds.as_dataframe ): Eksik.

• Alıntı :

@misc{oh2023pr2utokyodatasets,
  author={Jihoon Oh and Naoaki Kanazawa and Kento Kawaharazuka},
  title={X-Embodiment U-Tokyo PR2 Datasets},
  year={2023},
  url={https://github.com/ojh6404/rlds_dataset_builder},
}