conq_hose_manipulation

• Description:

Mobile manipulation dataset

• Homepage: https://sites.google.com/corp/view/conq-hose-manipulation-dataset/home

• Source code: tfds.robotics.rtx.ConqHoseManipulation

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 2.72 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	113
'val'	26

• Feature structure:

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': string,
    }),
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float32),
        'discount': Scalar(shape=(), dtype=float32),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32),
        'language_instruction': string,
        'observation': FeaturesDict({
            'frontleft_fisheye_image': Image(shape=(726, 604, 3), dtype=uint8),
            'frontright_fisheye_image': Image(shape=(726, 604, 3), dtype=uint8),
            'hand_color_image': Image(shape=(480, 640, 3), dtype=uint8),
            'state': Tensor(shape=(66,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Feature documentation:

Feature	Class	Shape	Dtype	Description
	FeaturesDict
episode_metadata	FeaturesDict
episode_metadata/file_path	Tensor		string
steps	Dataset
steps/action	Tensor	(7,)	float32
steps/discount	Scalar		float32
steps/is_first	Tensor		bool
steps/is_last	Tensor		bool
steps/is_terminal	Tensor		bool
steps/language_embedding	Tensor	(512,)	float32
steps/language_instruction	Tensor		string
steps/observation	FeaturesDict
steps/observation/frontleft_fisheye_image	Image	(726, 604, 3)	uint8
steps/observation/frontright_fisheye_image	Image	(726, 604, 3)	uint8
steps/observation/hand_color_image	Image	(480, 640, 3)	uint8
steps/observation/state	Tensor	(66,)	float32
steps/reward	Scalar		float32

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@misc{ConqHoseManipData,
author={Peter Mitrano and Dmitry Berenson},
title={Conq Hose Manipulation Dataset, v1.15.0},
year={2024},
howpublished={https://sites.google.com/view/conq-hose-manipulation-dataset}
}