- Deskripsi :
Kumpulan data manusia mahir Robomimic dikumpulkan oleh 1 operator mahir menggunakan platform RoboTurk (dengan pengecualian Transport, yang memiliki 2 operator mahir yang bekerja sama). Setiap dataset terdiri dari 200 lintasan sukses.
Setiap tugas memiliki dua versi: satu dengan pengamatan dimensi rendah ( low_dim
), dan satu lagi dengan gambar ( image
).
Kumpulan data mengikuti format RLDS untuk mewakili langkah dan episode.
Kode sumber :
tfds.datasets.robomimic_ph.Builder
Versi :
-
1.0.0
: Rilis awal. -
1.0.1
(default): Kutipan diperbarui.
-
Perpecahan :
Membelah | Contoh |
---|---|
'train' | 200 |
Kunci yang diawasi (Lihat
as_supervised
doc ):None
Gambar ( tfds.show_examples ): Tidak didukung.
Contoh ( tfds.as_dataframe ): Tidak ada.
Kutipan :
@inproceedings{robomimic2021,
title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany
and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese
and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
booktitle={Conference on Robot Learning},
year={2021}
}
robomimic_ph/lift_ph_image (konfigurasi default)
Ukuran unduhan :
798.43 MiB
Ukuran dataset :
114.47 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (10,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (32,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/lift_ph_low_dim
Ukuran unduhan :
17.69 MiB
Ukuran dataset :
8.50 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (10,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (32,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/can_ph_image
Ukuran unduhan :
1.87 GiB
Ukuran dataset :
474.55 MiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (71,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/can_ph_low_dim
Ukuran unduhan :
43.38 MiB
Ukuran dataset :
27.73 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (71,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/square_ph_image
Ukuran unduhan :
2.42 GiB
Ukuran dataset :
401.28 MiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (45,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/square_ph_low_dim
Ukuran unduhan :
47.69 MiB
Ukuran dataset :
29.91 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (45,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/transport_ph_image
Ukuran unduhan :
15.07 GiB
Ukuran dataset :
3.64 GiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot1_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64),
'shouldercamera0_image': Image(shape=(84, 84, 3), dtype=uint8),
'shouldercamera1_image': Image(shape=(84, 84, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (14,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (41,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/robot1_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot1_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot1_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot1_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot1_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot1_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot1_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/shouldercamera0_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/shouldercamera1_image | Gambar | (84, 84, 3) | uint8 | |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (115,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/transport_ph_low_dim
Ukuran unduhan :
294.70 MiB
Ukuran dataset :
208.05 MiB
Auto-cached ( dokumentasi ): Hanya saat
shuffle_files=False
(train)Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (14,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (41,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/robot1_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot1_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot1_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot1_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot1_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot1_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (115,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/tool_hang_ph_image
Ukuran unduhan :
61.96 GiB
Ukuran dataset :
9.10 GiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(240, 240, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'sideview_image': Image(shape=(240, 240, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (44,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (240, 240, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/sideview_image | Gambar | (240, 240, 3) | uint8 | |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (58,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/tool_hang_ph_low_dim
Ukuran unduhan :
192.29 MiB
Ukuran dataset :
121.77 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (44,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (58,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
- Deskripsi :
Kumpulan data manusia mahir Robomimic dikumpulkan oleh 1 operator mahir menggunakan platform RoboTurk (dengan pengecualian Transport, yang memiliki 2 operator mahir yang bekerja sama). Setiap dataset terdiri dari 200 lintasan sukses.
Setiap tugas memiliki dua versi: satu dengan pengamatan dimensi rendah ( low_dim
), dan satu lagi dengan gambar ( image
).
Kumpulan data mengikuti format RLDS untuk mewakili langkah dan episode.
Kode sumber :
tfds.datasets.robomimic_ph.Builder
Versi :
-
1.0.0
: Rilis awal. -
1.0.1
(default): Kutipan diperbarui.
-
Perpecahan :
Membelah | Contoh |
---|---|
'train' | 200 |
Kunci yang diawasi (Lihat
as_supervised
doc ):None
Gambar ( tfds.show_examples ): Tidak didukung.
Contoh ( tfds.as_dataframe ): Tidak ada.
Kutipan :
@inproceedings{robomimic2021,
title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany
and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese
and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
booktitle={Conference on Robot Learning},
year={2021}
}
robomimic_ph/lift_ph_image (konfigurasi default)
Ukuran unduhan :
798.43 MiB
Ukuran dataset :
114.47 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (10,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (32,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/lift_ph_low_dim
Ukuran unduhan :
17.69 MiB
Ukuran dataset :
8.50 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (10,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (32,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/can_ph_image
Ukuran unduhan :
1.87 GiB
Ukuran dataset :
474.55 MiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (71,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/can_ph_low_dim
Ukuran unduhan :
43.38 MiB
Ukuran dataset :
27.73 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (71,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/square_ph_image
Ukuran unduhan :
2.42 GiB
Ukuran dataset :
401.28 MiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/agentview_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (45,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/square_ph_low_dim
Ukuran unduhan :
47.69 MiB
Ukuran dataset :
29.91 MiB
Di-cache otomatis ( dokumentasi ): Ya
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (14,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (45,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/transport_ph_image
Ukuran unduhan :
15.07 GiB
Ukuran dataset :
3.64 GiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot1_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64),
'shouldercamera0_image': Image(shape=(84, 84, 3), dtype=uint8),
'shouldercamera1_image': Image(shape=(84, 84, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (14,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (41,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/robot1_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot1_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot1_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot1_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot1_eye_in_hand_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/robot1_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot1_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/shouldercamera0_image | Gambar | (84, 84, 3) | uint8 | |
langkah/pengamatan/shouldercamera1_image | Gambar | (84, 84, 3) | uint8 | |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (115,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/transport_ph_low_dim
Ukuran unduhan :
294.70 MiB
Ukuran dataset :
208.05 MiB
Auto-cached ( dokumentasi ): Hanya saat
shuffle_files=False
(train)Struktur fitur :
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
20_persen | Tensor | bool | ||
20_persen_kereta | Tensor | bool | ||
20_persen_valid | Tensor | bool | ||
50 persen | Tensor | bool | ||
50_persen_kereta | Tensor | bool | ||
50_persen_valid | Tensor | bool | ||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (14,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
langkah/is_terminal | Tensor | bool | ||
langkah/pengamatan | fiturDict | |||
langkah/pengamatan/objek | Tensor | (41,) | float64 | |
langkah/pengamatan/robot0_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot0_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot0_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot0_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot0_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot0_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot0_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/pengamatan/robot1_eef_pos | Tensor | (3,) | float64 | Posisi efektor akhir |
langkah/pengamatan/robot1_eef_quat | Tensor | (4,) | float64 | Orientasi efektor akhir |
langkah/pengamatan/robot1_eef_vel_ang | Tensor | (3,) | float64 | Kecepatan sudut end-effector |
langkah/pengamatan/robot1_eef_vel_lin | Tensor | (3,) | float64 | kecepatan kartesius akhir-efektor |
langkah/pengamatan/robot1_gripper_qpos | Tensor | (2,) | float64 | Posisi gripper |
langkah/pengamatan/robot1_gripper_qvel | Tensor | (2,) | float64 | Kecepatan gripper |
langkah/pengamatan/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF posisi bersama |
langkah/pengamatan/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
langkah/pengamatan/robot1_joint_vel | Tensor | (7,) | float64 | kecepatan sambungan 7DOF |
langkah/hadiah | Tensor | float64 | ||
langkah/keadaan | Tensor | (115,) | float64 | |
kereta | Tensor | bool | ||
sah | Tensor | bool |
robomimic_ph/tool_hang_ph_image
Ukuran unduhan :
61.96 GiB
Ukuran dataset :
9.10 GiB
Di-cache otomatis ( dokumentasi ): Tidak
Struktur fitur :
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_eye_in_hand_image': Image(shape=(240, 240, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
'sideview_image': Image(shape=(240, 240, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Dtype | Keterangan |
---|---|---|---|---|
fiturDict | ||||
episode_id | Tensor | rangkaian | ||
cakrawala | Tensor | int32 | ||
Langkah | Himpunan data | |||
langkah/tindakan | Tensor | (7,) | float64 | |
langkah/diskon | Tensor | int32 | ||
langkah/adalah_pertama | Tensor | bool | ||
langkah/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (44,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (240, 240, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/observation/sideview_image | Image | (240, 240, 3) | uint8 | |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (58,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/tool_hang_ph_low_dim
Download size :
192.29 MiB
Dataset size :
121.77 MiB
Auto-cached ( documentation ): Yes
Feature structure :
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation :
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (44,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (58,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |