- Description:
WidowX interacting with toy kitchens
Source code:
tfds.robotics.rtx.Bridge
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
387.49 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
3,475 |
'train' |
25,460 |
- Feature structure:
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),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/open_gripper | Tensor | bool | ||
steps/action/rotation_delta | Tensor | (3,) | float32 | |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (480, 640, 3) | uint8 | |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/observation/state | Tensor | (7,) | float32 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@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}
}