uiuc_d3field

• Description:

Organizing office desk, utensils etc

• Homepage: https://robopil.github.io/d3fields/

• Source code: tfds.robotics.rtx.UiucD3field

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 15.82 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	192

• Feature structure:

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(3,), dtype=float32, description=Robot displacement from last frame),
        'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'depth_1': Image(shape=(360, 640, 1), dtype=uint16, description=camera 1 depth observation.),
            'depth_2': Image(shape=(360, 640, 1), dtype=uint16, description=camera 2 depth observation.),
            'depth_3': Image(shape=(360, 640, 1), dtype=uint16, description=camera 3 depth observation.),
            'depth_4': Image(shape=(360, 640, 1), dtype=uint16, description=camera 4 depth observation.),
            'image_1': Image(shape=(360, 640, 3), dtype=uint8, description=camera 1 RGB observation.),
            'image_2': Image(shape=(360, 640, 3), dtype=uint8, description=camera 2 RGB observation.),
            'image_3': Image(shape=(360, 640, 3), dtype=uint8, description=camera 3 RGB observation.),
            'image_4': Image(shape=(360, 640, 3), dtype=uint8, description=camera 4 RGB observation.),
            'state': Tensor(shape=(4, 4), dtype=float32, description=Robot end-effector state),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})

• Feature documentation:

Feature	Class	Shape	Dtype	Description
	FeaturesDict
episode_metadata	FeaturesDict
episode_metadata/file_path	Text		string	Path to the original data file.
steps	Dataset
steps/action	Tensor	(3,)	float32	Robot displacement from last frame
steps/discount	Scalar		float32	Discount if provided, default to 1.
steps/is_first	Tensor		bool
steps/is_last	Tensor		bool
steps/is_terminal	Tensor		bool
steps/language_embedding	Tensor	(512,)	float32	Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5
steps/language_instruction	Text		string	Language Instruction.
steps/observation	FeaturesDict
steps/observation/depth_1	Image	(360, 640, 1)	uint16	camera 1 depth observation.
steps/observation/depth_2	Image	(360, 640, 1)	uint16	camera 2 depth observation.
steps/observation/depth_3	Image	(360, 640, 1)	uint16	camera 3 depth observation.
steps/observation/depth_4	Image	(360, 640, 1)	uint16	camera 4 depth observation.
steps/observation/image_1	Image	(360, 640, 3)	uint8	camera 1 RGB observation.
steps/observation/image_2	Image	(360, 640, 3)	uint8	camera 2 RGB observation.
steps/observation/image_3	Image	(360, 640, 3)	uint8	camera 3 RGB observation.
steps/observation/image_4	Image	(360, 640, 3)	uint8	camera 4 RGB observation.
steps/observation/state	Tensor	(4, 4)	float32	Robot end-effector state
steps/reward	Scalar		float32	Reward if provided, 1 on final step for demos.

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@article{wang2023d3field,
  title={D^3Field: Dynamic 3D Descriptor Fields for Generalizable Robotic Manipulation},
  author={Wang, Yixuan and Li, Zhuoran and Zhang, Mingtong and Driggs-Campbell, Katherine and Wu, Jiajun and Fei-Fei, Li and Li, Yunzhu},
  journal={arXiv preprint arXiv:},
  year={2023},
}