berkeley_cable_routing

  • Description:

Routing cable into clamps on table top

Split Examples
'test' 165
'train' 1,482
  • Feature structure:
FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Angular velocity about the z axis.),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32, description=Velocity in XYZ.),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'image': Image(shape=(128, 128, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'robot_state': Tensor(shape=(7,), dtype=float32),
            'top_image': Image(shape=(128, 128, 3), dtype=uint8),
            'wrist225_image': Image(shape=(128, 128, 3), dtype=uint8),
            'wrist45_image': Image(shape=(128, 128, 3), dtype=uint8),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
steps Dataset
steps/action FeaturesDict
steps/action/rotation_delta Tensor (3,) float32 Angular velocity about the z axis.
steps/action/terminate_episode Tensor float32
steps/action/world_vector Tensor (3,) float32 Velocity in XYZ.
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/image Image (128, 128, 3) uint8
steps/observation/natural_language_embedding Tensor (512,) float32
steps/observation/natural_language_instruction Tensor string
steps/observation/robot_state Tensor (7,) float32
steps/observation/top_image Image (128, 128, 3) uint8
steps/observation/wrist225_image Image (128, 128, 3) uint8
steps/observation/wrist45_image Image (128, 128, 3) uint8
steps/reward Scalar float32
  • Citation:
@article{luo2023multistage,
  author    = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
  title     = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
  journal   = {arXiv pre-print},
  year      = {2023},
  url       = {https://arxiv.org/abs/2307.08927},
}