kuka

• Description:

Bin picking and rearrangement tasks

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

• Source code: tfds.robotics.rtx.Kuka

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 779.81 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	580,392

• Feature structure:

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,
})

• Feature documentation:

Feature	Class	Shape	Dtype	Description
	FeaturesDict
steps	Dataset
steps/action	FeaturesDict
steps/action/base_displacement_vector	Tensor	(2,)	float32
steps/action/base_displacement_vertical_rotation	Tensor	(1,)	float32
steps/action/gripper_closedness_action	Tensor	(1,)	float32
steps/action/rotation_delta	Tensor	(3,)	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/clip_function_input/base_pose_tool_reached	Tensor	(7,)	float32
steps/observation/clip_function_input/workspace_bounds	Tensor	(3, 3)	float32
steps/observation/gripper_closed	Tensor	(1,)	float32
steps/observation/height_to_bottom	Tensor	(1,)	float32
steps/observation/image	Image	(512, 640, 3)	uint8
steps/observation/natural_language_embedding	Tensor	(512,)	float32
steps/observation/natural_language_instruction	Tensor		string
steps/observation/task_id	Tensor	(1,)	float32
steps/reward	Scalar		float32
success	Tensor		bool

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@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}
}