dobbe

• Description:

• Homepage: https://github.com/notmahi/dobb-e

• Source code: tfds.robotics.rtx.Dobbe

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 21.21 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	5,208

• 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({
            'gripper': Tensor(shape=(1,), dtype=float32),
            'quat': Tensor(shape=(4,), dtype=float32),
            'rot': Tensor(shape=(3,), dtype=float32),
            'state': Tensor(shape=(7,), dtype=float32),
            'wrist_image': Image(shape=(256, 256, 3), dtype=uint8),
            'xyz': Tensor(shape=(3,), 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/gripper	Tensor	(1,)	float32
steps/observation/quat	Tensor	(4,)	float32
steps/observation/rot	Tensor	(3,)	float32
steps/observation/state	Tensor	(7,)	float32
steps/observation/wrist_image	Image	(256, 256, 3)	uint8
steps/observation/xyz	Tensor	(3,)	float32
steps/reward	Scalar		float32

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@misc{shafiullah2023dobbe, title={On Bringing Robots Home}, author={Nur Muhammad Mahi Shafiullah and Anant Rai and Haritheja Etukuru and Yiqian Liu and Ishan Misra and Soumith Chintala and Lerrel Pinto}, year={2023}, eprint={2311.16098}, archivePrefix={arXiv}, primaryClass={cs.RO} }