# berkeley_cable_routing

• Keterangan :

Merutekan kabel ke klem di atas meja

Membelah Contoh
`'test'` 165
`'train'` 1.482
• Struktur fitur :
``````FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'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=(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
Langkah Himpunan 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/is_terminal Tensor bodoh
langkah/pengamatan FiturDict
langkah/pengamatan/gambar Gambar (128, 128, 3) uint8
langkah/pengamatan/penyematan_bahasa_alami 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
``````@article{luo2023multistage,