utokyo_xarm_bimanual_converted_externally_to_rlds

  • Description:

xArm bimanual setup folding towel

Split Examples
'train' 64
'val' 6
  • Feature structure:
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(14,), dtype=float32, description=Robot action, consists of [3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)].),
        '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({
            'action_l': Tensor(shape=(7,), dtype=float32, description=Left robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
            'action_r': Tensor(shape=(7,), dtype=float32, description=Right robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].),
            'image': Image(shape=(256, 256, 3), dtype=uint8, description=Main camera RGB observation.),
            'pose_l': Tensor(shape=(6,), dtype=float32, description=Left robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
            'pose_r': Tensor(shape=(6,), dtype=float32, description=Right robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
episode_metadata FeaturesDict
episode_metadata/file_path Text string Path to the original data file.
steps Dataset
steps/action Tensor (14,) float32 Robot action, consists of [3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)].
steps/discount Scalar float32 Discount if provided, default to 1.
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/language_embedding Tensor (512,) float32 Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5
steps/language_instruction Text string Language Instruction.
steps/observation FeaturesDict
steps/observation/action_l Tensor (7,) float32 Left robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].
steps/observation/action_r Tensor (7,) float32 Right robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].
steps/observation/image Image (256, 256, 3) uint8 Main camera RGB observation.
steps/observation/pose_l Tensor (6,) float32 Left robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].
steps/observation/pose_r Tensor (6,) float32 Right robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].
steps/reward Scalar float32 Reward if provided, 1 on final step for demos. 
@misc{matsushima2023weblab,
  title={Weblab xArm Dataset},
  author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
  year={2023},
}