columbia_cairlab_pusht_real

• Keterangan :

Tugas mendorong planar UR5

• Beranda : https://github.com/columbia-ai-robotics/diffusion_policy

• Kode sumber : tfds.robotics.rtx.ColumbiaCairlabPushtReal

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 2.80 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'test'	14
'train'	122

• Struktur fitur :

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': float32,
            'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Delta change in roll, pitch, yaw.),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32, description=Delta change in XYZ.),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'image': Image(shape=(240, 320, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'robot_state': Tensor(shape=(2,), dtype=float32, description=Robot end effector XY state),
            'wrist_image': Image(shape=(240, 320, 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/gripper_closedness_action	Tensor		float32	1 jika gripper tertutup, -1 jika gripper terbuka, 0 jika tidak ada perubahan.
langkah/tindakan/rotasi_delta	Tensor	(3,)	float32	Perubahan delta pada gerakan roll, pitch, yaw.
langkah/tindakan/terminate_episode	Tensor		float32
langkah/tindakan/world_vector	Tensor	(3,)	float32	Perubahan delta di XYZ.
langkah/adalah_pertama	Tensor		bodoh
langkah/adalah_terakhir	Tensor		bodoh
langkah/is_terminal	Tensor		bodoh
langkah/pengamatan	FiturDict
langkah/pengamatan/gambar	Gambar	(240, 320, 3)	uint8
langkah/pengamatan/penyematan_bahasa_alami	Tensor	(512,)	float32
langkah/pengamatan/instruksi_bahasa_alami	Tensor		rangkaian
langkah/pengamatan/robot_state	Tensor	(2,)	float32	Keadaan XY efektor akhir robot
langkah/pengamatan/wrist_image	Gambar	(240, 320, 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 :

@inproceedings{chi2023diffusionpolicy,
    title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
    author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
    booktitle={Proceedings of Robotics: Science and Systems (RSS)},
    year={2023}
}