- Description:
Mobile manipulation dataset
Homepage: https://sites.google.com/corp/view/conq-hose-manipulation-dataset/home
Source code:
tfds.robotics.rtx.ConqHoseManipulation
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
2.72 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
113 |
'val' |
26 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': string,
}),
'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({
'frontleft_fisheye_image': Image(shape=(726, 604, 3), dtype=uint8),
'frontright_fisheye_image': Image(shape=(726, 604, 3), dtype=uint8),
'hand_color_image': Image(shape=(480, 640, 3), dtype=uint8),
'state': Tensor(shape=(66,), dtype=float32),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/file_path | Tensor | string | ||
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/frontleft_fisheye_image | Image | (726, 604, 3) | uint8 | |
steps/observation/frontright_fisheye_image | Image | (726, 604, 3) | uint8 | |
steps/observation/hand_color_image | Image | (480, 640, 3) | uint8 | |
steps/observation/state | Tensor | (66,) | float32 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@misc{ConqHoseManipData,
author={Peter Mitrano and Dmitry Berenson},
title={Conq Hose Manipulation Dataset, v1.15.0},
year={2024},
howpublished={https://sites.google.com/view/conq-hose-manipulation-dataset}
}