usc_cloth_sim_converted_externally_to_rlds

• Description:

Franka cloth interaction tasks

• Homepage: https://uscresl.github.io/dmfd/

• Source code: tfds.robotics.rtx.UscClothSimConvertedExternallyToRlds

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 254.52 MiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'train'	800
'val'	200

• Feature structure:

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(4,), dtype=float32, description=Robot action, consists of x,y,z goal and picker commandpicker<0.5 = open, picker>0.5 = close.),
        '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({
            'image': Image(shape=(32, 32, 3), dtype=uint8, description=Image observation of cloth.),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward as a normalized performance metric in [0, 1].0 = no change from initial state. 1 = perfect fold.-ve performance means the cloth is worse off than initial state.),
    }),
})

• 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	(4,)	float32	Robot action, consists of x,y,z goal and picker commandpicker<0.5 = open, picker>0.5 = close.
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/image	Image	(32, 32, 3)	uint8	Image observation of cloth.
steps/reward	Scalar		float32	Reward as a normalized performance metric in [0, 1].0 = no change from initial state. 1 = perfect fold.-ve performance means the cloth is worse off than initial state.

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@article{salhotra2022dmfd,
    author={Salhotra, Gautam and Liu, I-Chun Arthur and Dominguez-Kuhne, Marcus and Sukhatme, Gaurav S.},
    journal={IEEE Robotics and Automation Letters},
    title={Learning Deformable Object Manipulation From Expert Demonstrations},
    year={2022},
    volume={7},
    number={4},
    pages={8775-8782},
    doi={10.1109/LRA.2022.3187843}
}