nyu_franka_play_dataset_converted_externally_to_rlds

• Keterangan :

Franka berinteraksi dengan dapur mainan

• Beranda : https://play-to-policy.github.io/

• Kode sumber : tfds.robotics.rtx.NyuFrankaPlayDatasetConvertedExternallyToRlds

• Versi :

  • 0.1.0 (default): Rilis awal.

• Ukuran unduhan : Unknown size

• Ukuran kumpulan data : 5.18 GiB

• Cache otomatis ( dokumentasi ): Tidak

• Perpecahan :

• Struktur fitur :

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(15,), 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({
            'depth': Tensor(shape=(128, 128, 1), dtype=int32),
            'depth_additional_view': Tensor(shape=(128, 128, 1), dtype=int32),
            'image': Image(shape=(128, 128, 3), dtype=uint8),
            'image_additional_view': Image(shape=(128, 128, 3), dtype=uint8),
            'state': Tensor(shape=(13,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Dokumentasi fitur :

• Kunci yang diawasi (Lihat dokumen as_supervised ): None

• Gambar ( tfds.show_examples ): Tidak didukung.

• Contoh ( tfds.as_dataframe ):

• Kutipan :

@article{cui2022play,
  title   = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
  author  = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
  journal = {arXiv preprint arXiv:2210.10047},
  year    = {2022}
}