# bridge_data_msr

<br />

- **Description**:

A set of object manipulation trajectories collected at Microsoft Research on a
WidowX-250 robot in a setup and format compatible with UC Berkeley's BridgeData
V2 (<https://rail-berkeley.github.io/bridgedata/>)

- **Homepage** :
  <https://www.microsoft.com/en-us/download/details.aspx?id=105937>

- **Source code** :
  [`tfds.robotics.rtx.BridgeDataMsr`](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** : `21.54 GiB`

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

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 822 |

- **Feature structure**:

    FeaturesDict({
        'episode_metadata': FeaturesDict({
            'file_path': string,
            'has_depth_0': Scalar(shape=(), dtype=bool),
            'has_image_0': Scalar(shape=(), dtype=bool),
            'has_image_1': Scalar(shape=(), dtype=bool),
            'has_image_2': Scalar(shape=(), dtype=bool),
            'has_language': Scalar(shape=(), dtype=bool),
        }),
        'steps': Dataset({
            'action': Tensor(shape=(7,), dtype=float32),
            'discount': Scalar(shape=(), dtype=float32),
            'is_first': bool,
            'is_last': bool,
            'is_terminal': bool,
            'language_embedding': Tensor(shape=(512,), dtype=float32),
            'language_instruction': string,
            'observation': FeaturesDict({
                'depth_0': Image(shape=(480, 640, 1), dtype=uint8),
                'image_0': Image(shape=(480, 640, 3), dtype=uint8),
                'image_1': Image(shape=(480, 640, 3), dtype=uint8),
                'image_2': Image(shape=(480, 640, 3), dtype=uint8),
                'state': Tensor(shape=(7,), dtype=float32),
            }),
            'reward': Scalar(shape=(), dtype=float32),
        }),
    })

- **Feature documentation**:

| Feature | Class | Shape | Dtype | Description |
|---|---|---|---|---|
|   | FeaturesDict |   |   |   |
| episode_metadata | FeaturesDict |   |   |   |
| episode_metadata/file_path | Tensor |   | string |   |
| episode_metadata/has_depth_0 | Scalar |   | bool |   |
| episode_metadata/has_image_0 | Scalar |   | bool |   |
| episode_metadata/has_image_1 | Scalar |   | bool |   |
| episode_metadata/has_image_2 | Scalar |   | bool |   |
| episode_metadata/has_language | Scalar |   | bool |   |
| steps | Dataset |   |   |   |
| steps/action | Tensor | (7,) | float32 |   |
| steps/discount | Scalar |   | float32 |   |
| steps/is_first | Tensor |   | bool |   |
| steps/is_last | Tensor |   | bool |   |
| steps/is_terminal | Tensor |   | bool |   |
| steps/language_embedding | Tensor | (512,) | float32 |   |
| steps/language_instruction | Tensor |   | string |   |
| steps/observation | FeaturesDict |   |   |   |
| steps/observation/depth_0 | Image | (480, 640, 1) | uint8 |   |
| steps/observation/image_0 | Image | (480, 640, 3) | uint8 |   |
| steps/observation/image_1 | Image | (480, 640, 3) | uint8 |   |
| steps/observation/image_2 | Image | (480, 640, 3) | uint8 |   |
| steps/observation/state | Tensor | (7,) | float32 |   |
| steps/reward | Scalar |   | float32 |   |

- **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**: