# berkeley_rpt_converted_externally_to_rlds

<br />

- **Description**:

Franka performing tabletop pick place tasks

- **Homepage** :
  <https://arxiv.org/abs/2306.10007>

- **Source code** :
  [`tfds.robotics.rtx.BerkeleyRptConvertedExternallyToRlds`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/robotics/rtx/rtx.py)

- **Versions**:

  - **`0.1.0`** (default): Initial release.
- **Download size** : `Unknown size`

- **Dataset size** : `40.64 GiB`

- **Auto-cached**
  ([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
  No

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 908 |

- **Feature structure**:

    FeaturesDict({
        'episode_metadata': FeaturesDict({
            'file_path': Text(shape=(), dtype=string),
        }),
        'steps': Dataset({
            'action': Tensor(shape=(8,), dtype=float32, description=Robot action, consists of [7 delta joint pos,1x gripper binary state].),
            '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({
                'gripper': Scalar(shape=(), dtype=bool, description=Binary gripper state (1 - closed, 0 - open)),
                'hand_image': Image(shape=(480, 640, 3), dtype=uint8, description=Hand camera RGB observation.),
                'joint_pos': Tensor(shape=(7,), dtype=float32, description=xArm joint positions (7 DoF).),
            }),
            '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 | (8,) | float32 | Robot action, consists of \[7 delta joint pos,1x gripper binary state\]. |
| 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/gripper | Scalar |   | bool | Binary gripper state (1 - closed, 0 - open) |
| steps/observation/hand_image | Image | (480, 640, 3) | uint8 | Hand camera RGB observation. |
| steps/observation/joint_pos | Tensor | (7,) | float32 | xArm joint positions (7 DoF). |
| steps/reward | Scalar |   | float32 | Reward if provided, 1 on final step for demos. |

- **Supervised keys** (See
  [`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):
  `None`

- **Figure**
  ([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):
  Not supported.

- **Examples**
  ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):

<button id="displaydataframe">Display examples...</button>

- **Citation**:

    @article{Radosavovic2023,
      title={Robot Learning with Sensorimotor Pre-training},
      author={Ilija Radosavovic and Baifeng Shi and Letian Fu and Ken Goldberg and Trevor Darrell and Jitendra Malik},
      year={2023},
      journal={arXiv:2306.10007}
    }