jaco_play

  • Description:

Jaco 2 pick place on table top

Split Examples
'test' 109
'train' 976
  • Feature structure:
FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
            'terminate_episode': Tensor(shape=(3,), dtype=int32),
            'world_vector': Tensor(shape=(3,), dtype=float32),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'end_effector_cartesian_pos': Tensor(shape=(7,), dtype=float32),
            'end_effector_cartesian_velocity': Tensor(shape=(6,), dtype=float32),
            'image': Image(shape=(224, 224, 3), dtype=uint8),
            'image_wrist': Image(shape=(224, 224, 3), dtype=uint8),
            'joint_pos': Tensor(shape=(8,), dtype=float32),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
steps Dataset
steps/action FeaturesDict
steps/action/gripper_closedness_action Tensor (1,) float32
steps/action/terminate_episode Tensor (3,) int32
steps/action/world_vector Tensor (3,) float32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/end_effector_cartesian_pos Tensor (7,) float32
steps/observation/end_effector_cartesian_velocity Tensor (6,) float32
steps/observation/image Image (224, 224, 3) uint8
steps/observation/image_wrist Image (224, 224, 3) uint8
steps/observation/joint_pos Tensor (8,) float32
steps/observation/natural_language_embedding Tensor (512,) float32
steps/observation/natural_language_instruction Tensor string
steps/reward Scalar float32
  • Citation:
@software{dass2023jacoplay,
  author = {Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui
            and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.},
  title = {CLVR Jaco Play Dataset},
  url = {https://github.com/clvrai/clvr_jaco_play_dataset},
  version = {1.0.0},
  year = {2023}
}