spoc_robot

• Keterangan :

• Beranda : https://spoc-robot.github.io/

• Kode sumber : tfds.robotics.rtx.SpocRobot

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 771.61 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'train'	212.043
'val'	21.108

• Struktur fitur :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': string,
        'task_target_split': string,
        'task_type': string,
    }),
    'steps': Dataset({
        'action': Tensor(shape=(9,), dtype=float32),
        'discount': Scalar(shape=(), dtype=float32),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_instruction': string,
        'observation': FeaturesDict({
            'an_object_is_in_hand': Scalar(shape=(), dtype=bool),
            'house_index': Scalar(shape=(), dtype=int64),
            'hypothetical_task_success': Scalar(shape=(), dtype=bool),
            'image': Image(shape=(224, 384, 3), dtype=uint8),
            'image_manipulation': Image(shape=(224, 384, 3), dtype=uint8),
            'last_action_is_random': Scalar(shape=(), dtype=bool),
            'last_action_str': string,
            'last_action_success': Scalar(shape=(), dtype=bool),
            'last_agent_location': Tensor(shape=(6,), dtype=float32),
            'manip_object_bbox': Tensor(shape=(10,), dtype=float32),
            'minimum_l2_target_distance': Scalar(shape=(), dtype=float32),
            'minimum_visible_target_alignment': Scalar(shape=(), dtype=float32),
            'nav_object_bbox': Tensor(shape=(10,), dtype=float32),
            'relative_arm_location_metadata': Tensor(shape=(4,), dtype=float32),
            'room_current_seen': Scalar(shape=(), dtype=bool),
            'rooms_seen': Scalar(shape=(), dtype=int64),
            'visible_target_4m_count': Scalar(shape=(), dtype=int64),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Dokumentasi fitur :

Fitur	Kelas	Membentuk	Tipe D	Keterangan
	FiturDict
episode_metadata	FiturDict
episode_metadata/file_path	Tensor		rangkaian
episode_metadata/task_target_split	Tensor		rangkaian
episode_metadata/task_type	Tensor		rangkaian
Langkah	Himpunan data
langkah/tindakan	Tensor	(9,)	float32
langkah/diskon	Skalar		float32
langkah/adalah_pertama	Tensor		bodoh
langkah/adalah_terakhir	Tensor		bodoh
langkah/is_terminal	Tensor		bodoh
langkah/bahasa_instruksi	Tensor		rangkaian
langkah/pengamatan	FiturDict
langkah/pengamatan/an_object_is_in_hand	Skalar		bodoh
langkah/pengamatan/house_index	Skalar		int64
langkah/pengamatan/hipotetis_tugas_sukses	Skalar		bodoh
langkah/pengamatan/gambar	Gambar	(224, 384, 3)	uint8
langkah/pengamatan/manipulasi_gambar	Gambar	(224, 384, 3)	uint8
langkah/pengamatan/last_action_is_random	Skalar		bodoh
langkah/pengamatan/last_action_str	Tensor		rangkaian
langkah/pengamatan/last_action_success	Skalar		bodoh
langkah/pengamatan/last_agent_location	Tensor	(6,)	float32
langkah/pengamatan/manip_object_bbox	Tensor	(10,)	float32
langkah/pengamatan/minimum_l2_target_distance	Skalar		float32
langkah/pengamatan/minimum_visible_target_alignment	Skalar		float32
langkah/pengamatan/nav_object_bbox	Tensor	(10,)	float32
langkah/pengamatan/relative_arm_location_metadata	Tensor	(4,)	float32
langkah/observasi/ruangan_saat ini_dilihat	Skalar		bodoh
langkah/pengamatan/ruangan_dilihat	Skalar		int64
langkah/pengamatan/visibel_target_4m_count	Skalar		int64
langkah/hadiah	Skalar		float32

• Kunci yang diawasi (Lihat dokumen as_supervised ): None

• Gambar ( tfds.show_examples ): Tidak didukung.

• Contoh ( tfds.as_dataframe ): Tidak ada.

• Kutipan :

@article{spoc2023,
    author    = {Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Kuo-Hao Zeng, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, Ranjay Krishna, Dustin Schwenk, Eli VanderBilt, Aniruddha Kembhavi},
    title     = {Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World},
    journal   = {arXiv},
    year      = {2023},
    eprint    = {2312.02976},
}