- Keterangan :
WidowX berinteraksi dengan dapur mainan
Kode sumber :
tfds.robotics.rtx.Bridge
Versi :
-
0.1.0
(default): Rilis awal.
-
Ukuran unduhan :
Unknown size
Ukuran kumpulan data :
387.49 GiB
Cache otomatis ( dokumentasi ): Tidak
Perpecahan :
Membelah | Contoh |
---|---|
'test' | 3.475 |
'train' | 25.460 |
- Struktur fitur :
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'open_gripper': bool,
'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({
'image': Image(shape=(480, 640, 3), dtype=uint8),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
'state': Tensor(shape=(7,), dtype=float32),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Dokumentasi fitur :
Fitur | Kelas | Membentuk | Tipe D | Keterangan |
---|---|---|---|---|
FiturDict | ||||
Langkah | Himpunan data | |||
langkah/tindakan | FiturDict | |||
langkah/tindakan/open_gripper | Tensor | bodoh | ||
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/gambar | Gambar | (480, 640, 3) | uint8 | |
langkah/pengamatan/penyematan_bahasa_alami | Tensor | (512,) | float32 | |
langkah/pengamatan/instruksi_bahasa_alami | Tensor | rangkaian | ||
langkah/pengamatan/keadaan | Tensor | (7,) | float32 | |
langkah/hadiah | Skalar | float32 |
Kunci yang diawasi (Lihat dokumen
as_supervised
):None
Gambar ( tfds.show_examples ): Tidak didukung.
Contoh ( tfds.as_dataframe ):
- Kutipan :
@inproceedings{walke2023bridgedata,
title={BridgeData V2: A Dataset for Robot Learning at Scale},
author={Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
booktitle={Conference on Robot Learning (CoRL)},
year={2023}
}