berkeley_cable_routing

• Keterangan :

Merutekan kabel ke klem di atas meja

• Beranda : https://sites.google.com/view/cablerouting/home

• Kode sumber : tfds.robotics.rtx.BerkeleyCableRouting

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 4.67 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'test'	165
'train'	1.482

• Struktur fitur :

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),
    }),
})

• Dokumentasi fitur :

Fitur	Kelas	Membentuk	Tipe D	Keterangan
	FiturDict
tangga	Kumpulan data
langkah/tindakan	FiturDict
langkah/tindakan/rotasi_delta	Tensor	(3,)	float32	Kecepatan sudut terhadap sumbu z.
langkah/tindakan/terminate_episode	Tensor		float32
langkah/tindakan/world_vector	Tensor	(3,)	float32	Kecepatan dalam XYZ.
langkah/adalah_pertama	Tensor		bodoh
langkah/adalah_terakhir	Tensor		bodoh
langkah/is_terminal	Tensor		bodoh
langkah/pengamatan	FiturDict
langkah/pengamatan/gambar	Gambar	(128, 128, 3)	uint8
langkah/pengamatan/natural_bahasa_embedding	Tensor	(512,)	float32
langkah/pengamatan/instruksi_bahasa_alami	Tensor		rangkaian
langkah/pengamatan/robot_state	Tensor	(7,)	float32
langkah/pengamatan/top_image	Gambar	(128, 128, 3)	uint8
langkah/pengamatan/pergelangan tangan225_image	Gambar	(128, 128, 3)	uint8
langkah/pengamatan/wrist45_image	Gambar	(128, 128, 3)	uint8
langkah/hadiah	Skalar		float32

• Kunci yang diawasi (Lihat dokumen as_supervised ): None

• Gambar ( tfds.show_examples ): Tidak didukung.

• Contoh ( tfds.as_dataframe ):

• Kutipan :

@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},
}