• Keterangan :

Tugas mendorong planar UR5

Membelah Contoh
'test' 14
'train' 122
  • Struktur fitur :
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': float32,
            '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=(240, 320, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'robot_state': Tensor(shape=(2,), dtype=float32),
            'wrist_image': Image(shape=(240, 320, 3), dtype=uint8),
        'reward': Scalar(shape=(), dtype=float32),
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
Langkah Himpunan data
langkah/tindakan FiturDict
langkah/tindakan/gripper_closedness_action Tensor float32 1 jika gripper tertutup, -1 jika gripper terbuka, 0 jika tidak ada perubahan.
langkah/tindakan/rotasi_delta Tensor (3,) float32 Perubahan delta pada gerakan roll, pitch, yaw.
langkah/tindakan/terminate_episode Tensor float32
langkah/tindakan/world_vector Tensor (3,) float32 Perubahan delta di XYZ.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/pengamatan FiturDict
langkah/pengamatan/gambar Gambar (240, 320, 3) uint8
langkah/pengamatan/natural_bahasa_embedding Tensor (512,) float32
langkah/pengamatan/instruksi_bahasa_alami Tensor rangkaian
langkah/pengamatan/robot_state Tensor (2,) float32 Keadaan XY efektor akhir robot
langkah/pengamatan/wrist_image Gambar (240, 320, 3) uint8
langkah/hadiah Skalar float32
  • Kutipan :
    title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
    author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
    booktitle={Proceedings of Robotics: Science and Systems (RSS)},