Split Examples
'train' 5,208
  • Feature structure:
    '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({
            'gripper': Tensor(shape=(1,), dtype=float32),
            'quat': Tensor(shape=(4,), dtype=float32),
            'rot': Tensor(shape=(3,), dtype=float32),
            'state': Tensor(shape=(7,), dtype=float32),
            'wrist_image': Image(shape=(256, 256, 3), dtype=uint8),
            'xyz': Tensor(shape=(3,), dtype=float32),
        'reward': Scalar(shape=(), dtype=float32),
  • Feature documentation:
Feature Class Shape Dtype Description
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/gripper Tensor (1,) float32
steps/observation/quat Tensor (4,) float32
steps/observation/rot Tensor (3,) float32
steps/observation/state Tensor (7,) float32
steps/observation/wrist_image Image (256, 256, 3) uint8
steps/observation/xyz Tensor (3,) float32
steps/reward Scalar float32
  • Citation:
@misc{shafiullah2023dobbe, title={On Bringing Robots Home}, author={Nur Muhammad Mahi Shafiullah and Anant Rai and Haritheja Etukuru and Yiqian Liu and Ishan Misra and Soumith Chintala and Lerrel Pinto}, year={2023}, eprint={2311.16098}, archivePrefix={arXiv}, primaryClass={cs.RO} }