- Description:
pouring liquid from a bottle into a mug
Homepage: https://elib.dlr.de/193739/1/padalkar2023rlsct.pdf
Source code:
tfds.robotics.rtx.DlrSaraPourConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
2.92 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
100 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float32, description=Robot action, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(="zxy") Class].),
'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
'language_instruction': Text(shape=(), dtype=string),
'observation': FeaturesDict({
'image': Image(shape=(480, 640, 3), dtype=uint8, description=Main camera RGB observation.),
'state': Tensor(shape=(6,), dtype=float32, description=Robot state, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(="zxy") Class].),
}),
'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/file_path | Text | string | Path to the original data file. | |
steps | Dataset | |||
steps/action | Tensor | (7,) | float32 | Robot action, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(="zxy") Class]. |
steps/discount | Scalar | float32 | Discount if provided, default to 1. | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/language_embedding | Tensor | (512,) | float32 | Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5 |
steps/language_instruction | Text | string | Pour into the mug. | |
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (480, 640, 3) | uint8 | Main camera RGB observation. |
steps/observation/state | Tensor | (6,) | float32 | Robot state, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(="zxy") Class]. |
steps/reward | Scalar | float32 | Reward if provided, 1 on final step for demos. |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@inproceedings{padalkar2023guiding,
title={Guiding Reinforcement Learning with Shared Control Templates},
author={Padalkar, Abhishek and Quere, Gabriel and Steinmetz, Franz and Raffin, Antonin and Nieuwenhuisen, Matthias and Silv{\'e}rio, Jo{\~a}o and Stulp, Freek},
booktitle={40th IEEE International Conference on Robotics and Automation, ICRA 2023},
year={2023},
organization={IEEE}
}