kuka

• Keterangan :

Tugas pengambilan dan penataan ulang sampah

• Beranda : https://arxiv.org/abs/1806.10293

• Kode sumber : tfds.robotics.rtx.Kuka

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 779.81 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'train'	580.392

• Struktur fitur :

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'base_displacement_vector': Tensor(shape=(2,), dtype=float32),
            'base_displacement_vertical_rotation': Tensor(shape=(1,), dtype=float32),
            'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
            'rotation_delta': Tensor(shape=(3,), 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({
            'clip_function_input/base_pose_tool_reached': Tensor(shape=(7,), dtype=float32),
            'clip_function_input/workspace_bounds': Tensor(shape=(3, 3), dtype=float32),
            'gripper_closed': Tensor(shape=(1,), dtype=float32),
            'height_to_bottom': Tensor(shape=(1,), dtype=float32),
            'image': Image(shape=(512, 640, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'task_id': Tensor(shape=(1,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
    'success': bool,
})

• Dokumentasi fitur :

Fitur	Kelas	Membentuk	Tipe D	Keterangan
	FiturDict
Langkah	Himpunan data
langkah/tindakan	FiturDict
langkah/tindakan/base_displacement_vector	Tensor	(2,)	float32
langkah/tindakan/base_displacement_vertical_rotation	Tensor	(1,)	float32
langkah/tindakan/gripper_closedness_action	Tensor	(1,)	float32
langkah/tindakan/rotasi_delta	Tensor	(3,)	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/clip_function_input/base_pose_tool_reached	Tensor	(7,)	float32
langkah/pengamatan/clip_function_input/workspace_bounds	Tensor	(3, 3)	float32
langkah/pengamatan/gripper_closed	Tensor	(1,)	float32
langkah/pengamatan/tinggi_ke_bawah	Tensor	(1,)	float32
langkah/pengamatan/gambar	Gambar	(512, 640, 3)	uint8
langkah/pengamatan/penyematan_bahasa_alami	Tensor	(512,)	float32
langkah/pengamatan/instruksi_bahasa_alami	Tensor		rangkaian
langkah/pengamatan/task_id	Tensor	(1,)	float32
langkah/hadiah	Skalar		float32
kesuksesan	Tensor		bodoh

• Kunci yang diawasi (Lihat dokumen as_supervised ): None

• Gambar ( tfds.show_examples ): Tidak didukung.

• Contoh ( tfds.as_dataframe ):

• Kutipan :

@article{kalashnikov2018qt,
  title={Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation},
  author={Kalashnikov, Dmitry and Irpan, Alex and Pastor, Peter and Ibarz, Julian and Herzog, Alexander and Jang, Eric and Quillen, Deirdre and Holly, Ethan and Kalakrishnan, Mrinal and Vanhoucke, Vincent and others},
  journal={arXiv preprint arXiv:1806.10293},
  year={2018}
}