maniskill_dataset_converted_externally_to_rlds

• Tanım :

Çeşitli manipülasyon görevlerini yerine getiren simüle Franka

• Ana sayfa : https://github.com/haosulab/ManiSkill2

• Kaynak kodu : tfds.robotics.rtx.ManiskillDatasetConvertedExternallyToRlds

• Sürümler :

  • 0.1.0 (varsayılan): İlk sürüm.

• İndirme boyutu : Unknown size

• Veri kümesi boyutu : 151.05 GiB

• Otomatik önbelleğe alınmış ( belgeler ): Hayır

• Bölünmeler :

• Özellik yapısı :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'episode_id': Text(shape=(), dtype=string),
        'file_path': Text(shape=(), dtype=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': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'base_pose': Tensor(shape=(7,), dtype=float32),
            'depth': Image(shape=(256, 256, 1), dtype=uint16),
            'image': Image(shape=(256, 256, 3), dtype=uint8),
            'main_camera_cam2world_gl': Tensor(shape=(4, 4), dtype=float32),
            'main_camera_extrinsic_cv': Tensor(shape=(4, 4), dtype=float32),
            'main_camera_intrinsic_cv': Tensor(shape=(3, 3), dtype=float32),
            'state': Tensor(shape=(18,), dtype=float32),
            'target_object_or_part_final_pose': Tensor(shape=(7,), dtype=float32),
            'target_object_or_part_final_pose_valid': Tensor(shape=(7,), dtype=uint8),
            'target_object_or_part_initial_pose': Tensor(shape=(7,), dtype=float32),
            'target_object_or_part_initial_pose_valid': Tensor(shape=(7,), dtype=uint8),
            'tcp_pose': Tensor(shape=(7,), dtype=float32),
            'wrist_camera_cam2world_gl': Tensor(shape=(4, 4), dtype=float32),
            'wrist_camera_extrinsic_cv': Tensor(shape=(4, 4), dtype=float32),
            'wrist_camera_intrinsic_cv': Tensor(shape=(3, 3), dtype=float32),
            'wrist_depth': Image(shape=(256, 256, 1), dtype=uint16),
            'wrist_image': Image(shape=(256, 256, 3), dtype=uint8),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Özellik belgeleri :

• Denetlenen anahtarlar ( as_supervised belgesine bakın): None

• Şekil ( tfds.show_examples ): Desteklenmiyor.

• Örnekler ( tfds.as_dataframe ):

• Alıntı :

@inproceedings{gu2023maniskill2,
  title={ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills},
  author={Gu, Jiayuan and Xiang, Fanbo and Li, Xuanlin and Ling, Zhan and Liu, Xiqiang and Mu, Tongzhou and Tang, Yihe and Tao, Stone and Wei, Xinyue and Yao, Yunchao and Yuan, Xiaodi and Xie, Pengwei and Huang, Zhiao and Chen, Rui and Su, Hao},
  booktitle={International Conference on Learning Representations},
  year={2023}
}