robotturk

• Keterangan :

Melipat kain, menumpuk mangkuk

• Beranda : https://roboturk.stanford.edu/dataset_real.html

• Kode sumber : tfds.robotics.rtx.Roboturk

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 45.39 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'test'	199
'train'	1.796

• Struktur fitur :

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
            'rotation_delta': Tensor(shape=(3,), dtype=float32),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'front_rgb': Image(shape=(480, 640, 3), dtype=uint8),
            '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
tangga	Kumpulan data
langkah/tindakan	FiturDict
langkah/tindakan/gripper_closedness_action	Tensor	(1,)	float32
langkah/tindakan/rotasi_delta	Tensor	(3,)	float32
langkah/tindakan/terminate_episode	Tensor		float32
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/front_rgb	Gambar	(480, 640, 3)	uint8
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 :

@inproceedings{mandlekar2019scaling,
          title={Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity},
          author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li},
          booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
          pages={1048--1055},
          year={2019},
          organization={IEEE}
        }