biola

• Keterangan :

Robot Franka berinteraksi dengan tugas dapur bergaya

• Beranda : https://ut-austin-rpl.github.io/VIOLA/

• Kode sumber : tfds.robotics.rtx.Viola

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 10.40 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

Membelah	Contoh
'test'	15
'train'	135

• Struktur fitur :

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': 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({
            'agentview_rgb': Image(shape=(224, 224, 3), dtype=uint8, description=RGB captured by workspace camera),
            'ee_states': Tensor(shape=(16,), dtype=float32, description=Pose of the end effector specified as a homogenous matrix.),
            'eye_in_hand_rgb': Image(shape=(224, 224, 3), dtype=uint8, description=RGB captured by in hand camera),
            'gripper_states': Tensor(shape=(1,), dtype=float32, description=gripper_states = 0 means the gripper is fully closed. The value represents the gripper width of Franka Panda Gripper.),
            'joint_states': Tensor(shape=(7,), dtype=float32, description=joint values),
            '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		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/agentview_rgb	Gambar	(224, 224, 3)	uint8	RGB ditangkap oleh kamera ruang kerja
langkah/pengamatan/ee_states	Tensor	(16,)	float32	Pose efektor akhir ditentukan sebagai matriks homogen.
langkah/pengamatan/eye_in_hand_rgb	Gambar	(224, 224, 3)	uint8	RGB ditangkap dengan kamera di tangan
langkah/pengamatan/gripper_states	Tensor	(1,)	float32	gripper_states = 0 berarti gripper tertutup sepenuhnya. Nilai tersebut mewakili lebar gripper Franka Panda Gripper.
langkah/pengamatan/joint_states	Tensor	(7,)	float32	nilai-nilai bersama
langkah/pengamatan/penyematan_bahasa_alami	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 ): Tidak ada.

• Kutipan :

@article{zhu2022viola,
  title={VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors},
  author={Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke},
  journal={6th Annual Conference on Robot Learning (CoRL)},
  year={2022}
}