• Description:

hallway navigation

Split Examples
'train' 7,331
  • Feature structure:
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    'steps': Dataset({
        'action': Tensor(shape=(2,), dtype=float64),
        'action_angle': Tensor(shape=(3,), dtype=float64),
        'discount': Scalar(shape=(), dtype=float64),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'image': Image(shape=(64, 85, 3), dtype=uint8),
            'position': Tensor(shape=(2,), dtype=float64),
            'state': Tensor(shape=(3,), dtype=float64),
            'yaw': Tensor(shape=(1,), dtype=float64),
        'reward': Scalar(shape=(), dtype=float64),
  • Feature documentation:
Feature Class Shape Dtype Description
episode_metadata FeaturesDict
episode_metadata/file_path Text string Path to the original data file.
steps Dataset
steps/action Tensor (2,) float64 Robot action, consists of 2x position
steps/action_angle Tensor (3,) float64 Robot action, consists of 2x position, 1x yaw
steps/discount Scalar float64 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
steps/language_instruction Text string Language Instruction.
steps/observation FeaturesDict
steps/observation/image Image (64, 85, 3) uint8 Main camera RGB observation.
steps/observation/position Tensor (2,) float64 Robot position
steps/observation/state Tensor (3,) float64 Robot state, consists of [2x position, 1x yaw]
steps/observation/yaw Tensor (1,) float64 Robot yaw
steps/reward Scalar float64 Reward if provided, 1 on final step for demos.
  • Citation:
  title={Self-supervised deep reinforcement learning with generalized computation graphs for robot navigation},
  author={Kahn, Gregory and Villaflor, Adam and Ding, Bosen and Abbeel, Pieter and Levine, Sergey},
  booktitle={2018 IEEE international conference on robotics and automation (ICRA)},