- Description:
Franka tabletop manipulation tasks
Homepage: https://ut-austin-rpl.github.io/sirius/
Source code:
tfds.robotics.rtx.AustinSiriusDatasetConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
6.55 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
559 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float32, description=Robot action, consists of [3x ee relative pos, 3x ee relative rotation, 1x gripper action].),
'action_mode': Tensor(shape=(1,), dtype=float32, description=Type of interaction. -1: initial human demonstration. 1: intervention. 0: autonomuos robot execution (includes pre-intervention class)),
'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
'intv_label': Tensor(shape=(1,), dtype=float32, description=Same as action_modes, except 15 timesteps preceding intervention are labeled as -10.),
'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=(84, 84, 3), dtype=uint8, description=Main camera RGB observation.),
'state': Tensor(shape=(8,), dtype=float32, description=Default robot state, consists of [7x robot joint state, 1x gripper state].),
'state_ee': Tensor(shape=(16,), dtype=float32, description=End-effector state, represented as 4x4 homogeneous transformation matrix of ee pose.),
'state_gripper': Tensor(shape=(1,), dtype=float32, description=Robot gripper opening width. Ranges between ~0 (closed) to ~0.077 (open)),
'state_joint': Tensor(shape=(7,), dtype=float32, description=Robot 7-dof joint information.),
'wrist_image': Image(shape=(84, 84, 3), dtype=uint8, description=Wrist camera RGB observation.),
}),
'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 | (7,) | float32 | Robot action, consists of [3x ee relative pos, 3x ee relative rotation, 1x gripper action]. |
steps/action_mode | Tensor | (1,) | float32 | Type of interaction. -1: initial human demonstration. 1: intervention. 0: autonomuos robot execution (includes pre-intervention class) |
steps/discount | Scalar | float32 | Discount if provided, default to 1. | |
steps/intv_label | Tensor | (1,) | float32 | Same as action_modes, except 15 timesteps preceding intervention are labeled as -10. |
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 | (84, 84, 3) | uint8 | Main camera RGB observation. |
steps/observation/state | Tensor | (8,) | float32 | Default robot state, consists of [7x robot joint state, 1x gripper state]. |
steps/observation/state_ee | Tensor | (16,) | float32 | End-effector state, represented as 4x4 homogeneous transformation matrix of ee pose. |
steps/observation/state_gripper | Tensor | (1,) | float32 | Robot gripper opening width. Ranges between ~0 (closed) to ~0.077 (open) |
steps/observation/state_joint | Tensor | (7,) | float32 | Robot 7-dof joint information. |
steps/observation/wrist_image | Image | (84, 84, 3) | uint8 | Wrist camera RGB observation. |
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:
@inproceedings{liu2022robot,
title = {Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment},
author = {Huihan Liu and Soroush Nasiriany and Lance Zhang and Zhiyao Bao and Yuke Zhu},
booktitle = {Robotics: Science and Systems (RSS)},
year = {2023}
}