meniru_bermain

• Keterangan :

Kumpulan data nyata dari 14 tugas manipulasi cakrawala panjang. Gabungan data permainan manusia dan data lengan robot tunggal yang melakukan tugas yang sama.

Membelah Contoh
`'train'` 378
• Struktur fitur :
``````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({
'image': FeaturesDict({
'front_image_1': Image(shape=(120, 120, 3), dtype=uint8),
'front_image_2': Image(shape=(120, 120, 3), dtype=uint8),
}),
'state': FeaturesDict({
'ee_pose': Tensor(shape=(7,), dtype=float32),
'gripper_position': float32,
'joint_positions': Tensor(shape=(7,), dtype=float32),
'joint_velocities': Tensor(shape=(7,), dtype=float32),
}),
'wrist_image': FeaturesDict({
'wrist_image': Image(shape=(120, 120, 3), dtype=uint8),
}),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
``````
• Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
Langkah Himpunan data
langkah/tindakan Tensor (7,) float32
langkah/diskon Skalar float32
langkah/is_terminal Tensor bodoh
langkah/bahasa_embedding Tensor (512,) float32
langkah/bahasa_instruksi Tensor rangkaian
langkah/pengamatan FiturDict
langkah/pengamatan/gambar FiturDict
langkah/pengamatan/gambar/front_image_1 Gambar (120, 120, 3) uint8
langkah/pengamatan/gambar/front_image_2 Gambar (120, 120, 3) uint8
``````@article{wang2023mimicplay,title={Mimicplay: Long-horizon imitation learning by watching human play},author={Wang, Chen and Fan, Linxi and Sun, Jiankai and Zhang, Ruohan and Fei-Fei, Li and Xu, Danfei and Zhu, Yuke and Anandkumar, Anima},journal={arXiv preprint arXiv:2302.12422},year={2023} }