• Description:

A dataset of high-qualty demonstration trajectories for Robosuite's Door, Stack, PickPlaceMilk, PickPlaceBread, PickPlaceCereal, and NutAssemblyRound tasks, 75 demonstrations per each.

Split Examples
'train' 402
'val' 48
  • Feature structure:
    'episode_metadata': FeaturesDict({
        'episode_id': string,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        '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({
            'image': Image(shape=(128, 128, 3), dtype=uint8),
            'state': Tensor(shape=(32,), dtype=float64),
            'wrist_image': Image(shape=(128, 128, 3), dtype=uint8),
        'reward': Scalar(shape=(), dtype=float32),
  • Feature documentation:
Feature Class Shape Dtype Description
episode_metadata FeaturesDict
episode_metadata/episode_id Tensor string
steps Dataset
steps/action Tensor (7,) float64
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/image Image (128, 128, 3) uint8
steps/observation/state Tensor (32,) float64
steps/observation/wrist_image Image (128, 128, 3) uint8
steps/reward Scalar float32