jaco_play

• Keterangan :

Jaco 2 pilih tempat di atas meja

• Beranda : https://github.com/clvrai/clvr_jaco_play_dataset

• Kode sumber : tfds.robotics.rtx.JacoPlay

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 9.24 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'test'	109
'train'	976

• Struktur fitur :

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),
    }),
})

• Dokumentasi fitur :

Fitur	Kelas	Membentuk	Tipe D	Keterangan
	FiturDict
Langkah	Himpunan data
langkah/tindakan	FiturDict
langkah/tindakan/gripper_closedness_action	Tensor	(1,)	float32
langkah/tindakan/terminate_episode	Tensor	(3,)	int32
langkah/tindakan/world_vector	Tensor	(3,)	float32
langkah/adalah_pertama	Tensor		bodoh
langkah/adalah_terakhir	Tensor		bodoh
langkah/is_terminal	Tensor		bodoh
langkah/pengamatan	FiturDict
langkah/pengamatan/end_effector_cartesian_pos	Tensor	(7,)	float32
langkah/pengamatan/end_effector_cartesian_velocity	Tensor	(6,)	float32
langkah/pengamatan/gambar	Gambar	(224, 224, 3)	uint8
langkah/pengamatan/image_wrist	Gambar	(224, 224, 3)	uint8
langkah/pengamatan/joint_pos	Tensor	(8,)	float32
langkah/pengamatan/natural_bahasa_embedding	Tensor	(512,)	float32
langkah/pengamatan/instruksi_bahasa_alami	Tensor		rangkaian
langkah/hadiah	Skalar		float32

• Kunci yang diawasi (Lihat dokumen as_supervised ): None

• Gambar ( tfds.show_examples ): Tidak didukung.

• Contoh ( tfds.as_dataframe ):

• Kutipan :

@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}
}