# conq_hose_manipulation

<br />

- **Description**:

Mobile manipulation dataset

- **Homepage** :
  <https://sites.google.com/corp/view/conq-hose-manipulation-dataset/home>

- **Source code** :
  [`tfds.robotics.rtx.ConqHoseManipulation`](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** : `2.72 GiB`

- **Auto-cached**
  ([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
  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](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**:

    @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}
    }