usc_cloth_sim_converted_externally_to_rlds

  • Keterangan :

Tugas interaksi kain Franka

Membelah Contoh
'train' 800
'val' 200
  • Struktur fitur :
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.),
    }),
})
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
episode_metadata FiturDict
episode_metadata/file_path Teks rangkaian Jalur ke file data asli.
tangga Kumpulan data
langkah/tindakan Tensor (4,) float32 Aksi robot, terdiri dari x,y,z goal dan picker commandpicker<0.5 = open, picker>0.5 = close.
langkah/diskon Skalar float32 Diskon jika disediakan, defaultnya adalah 1.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/bahasa_penyematan Tensor (512,) float32 Penyematan bahasa Kona. Lihat https://tfhub.dev/google/universal-sentence-encoder-large/5
langkah/bahasa_instruksi Teks rangkaian Instruksi Bahasa.
langkah/pengamatan FiturDict
langkah/pengamatan/gambar Gambar (32, 32, 3) uint8 Pengamatan gambar kain.
langkah/hadiah Skalar float32 Hadiah sebagai metrik kinerja yang dinormalisasi di [0, 1].0 = tidak ada perubahan dari keadaan awal. 1 = kinerja lipatan sempurna.-ve berarti kondisi kain lebih buruk dari keadaan awal.
@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}
}