berkeley_mvp_converted_externally_to_rlds

  • Keterangan :

xArm melakukan 6 tugas manipulasi

Membelah Contoh
'train' 480
  • Struktur fitur :
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(8,), dtype=float32, description=Robot action, consists of [7 delta joint pos,1x gripper binary state].),
        '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({
            'gripper': Scalar(shape=(), dtype=bool, description=Binary gripper state (1 - closed, 0 - open)),
            'hand_image': Image(shape=(480, 640, 3), dtype=uint8, description=Hand camera RGB observation.),
            'joint_pos': Tensor(shape=(7,), dtype=float32, description=xArm joint positions (7 DoF).),
            'pose': Tensor(shape=(7,), dtype=float32, description=Gripper pose, robot frame, [3 position, 4 rotation]),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
episode_metadata FiturDict
episode_metadata/file_path Teks rangkaian Jalur ke file data asli.
tangga Kumpulan data
langkah/tindakan Tensor (8,) float32 Aksi robot, terdiri dari [7 pos sambungan delta, 1x status biner gripper].
langkah/diskon Skalar float32 Diskon jika disediakan, defaultnya adalah 1.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/bahasa_penyematan Tensor (512,) float32 Penyematan bahasa Kona. Lihat https://tfhub.dev/google/universal-sentence-encoder-large/5
langkah/bahasa_instruksi Teks rangkaian Instruksi Bahasa.
langkah/pengamatan FiturDict
langkah/pengamatan/pegangan Skalar bodoh Status gripper biner (1 - tertutup, 0 - terbuka)
langkah/pengamatan/gambar_tangan Gambar (480, 640, 3) uint8 Pengamatan RGB kamera tangan.
langkah/pengamatan/joint_pos Tensor (7,) float32 posisi sambungan xArm (7 DoF).
langkah/observasi/pose Tensor (7,) float32 Pose gripper, rangka robot, [3 posisi, 4 rotasi]
langkah/hadiah Skalar float32 Hadiah jika diberikan, 1 pada langkah terakhir untuk demo.
  • Kutipan :
@InProceedings{Radosavovic2022,
  title = {Real-World Robot Learning with Masked Visual Pre-training},
  author = {Ilija Radosavovic and Tete Xiao and Stephen James and Pieter Abbeel and Jitendra Malik and Trevor Darrell},
  booktitle = {CoRL},
  year = {2022}
}