berkeley_rpt_converted_externally_to_rlds

• Description:

Franka performing tabletop pick place tasks

• Homepage: https://arxiv.org/abs/2306.10007

• Source code: tfds.robotics.rtx.BerkeleyRptConvertedExternallyToRlds

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 40.64 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	908

• Feature structure:

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).),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})

• Feature documentation:

Feature	Class	Shape	Dtype	Description
	FeaturesDict
episode_metadata	FeaturesDict
episode_metadata/file_path	Text		string	Path to the original data file.
steps	Dataset
steps/action	Tensor	(8,)	float32	Robot action, consists of [7 delta joint pos,1x gripper binary state].
steps/discount	Scalar		float32	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 https://tfhub.dev/google/universal-sentence-encoder-large/5
steps/language_instruction	Text		string	Language Instruction.
steps/observation	FeaturesDict
steps/observation/gripper	Scalar		bool	Binary gripper state (1 - closed, 0 - open)
steps/observation/hand_image	Image	(480, 640, 3)	uint8	Hand camera RGB observation.
steps/observation/joint_pos	Tensor	(7,)	float32	xArm joint positions (7 DoF).
steps/reward	Scalar		float32	Reward if provided, 1 on final step for demos.

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@article{Radosavovic2023,
  title={Robot Learning with Sensorimotor Pre-training},
  author={Ilija Radosavovic and Baifeng Shi and Letian Fu and Ken Goldberg and Trevor Darrell and Jitendra Malik},
  year={2023},
  journal={arXiv:2306.10007}
}