# robo_set

<br />

- **Description**:

Real dataset of a single robot arm demonstrating 12 non-trivial manipulation
skills across 38 tasks, 7500 trajectories.

- **Homepage** : <https://robopen.github.io/>

- **Source code** :
  [`tfds.robotics.rtx.RoboSet`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/robotics/rtx/rtx.py)

- **Versions**:

  - **`0.1.0`** (default): Initial release.
- **Download size** : `Unknown size`

- **Dataset size** : `179.42 GiB`

- **Auto-cached**
  ([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
  No

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 18,250 |

- **Feature structure**:

    FeaturesDict({
        'episode_metadata': FeaturesDict({
            'file_path': string,
            'trial_id': string,
        }),
        'steps': Dataset({
            'action': Tensor(shape=(8,), dtype=float32),
            'discount': Scalar(shape=(), dtype=float32),
            'is_first': bool,
            'is_last': bool,
            'is_terminal': bool,
            'language_instruction': string,
            'observation': FeaturesDict({
                'image_left': Image(shape=(240, 424, 3), dtype=uint8),
                'image_right': Image(shape=(240, 424, 3), dtype=uint8),
                'image_top': Image(shape=(240, 424, 3), dtype=uint8),
                'image_wrist': Image(shape=(240, 424, 3), dtype=uint8),
                'state': Tensor(shape=(8,), dtype=float32),
                'state_velocity': Tensor(shape=(8,), dtype=float32),
            }),
            'reward': Scalar(shape=(), dtype=float32),
        }),
    })

- **Feature documentation**:

| Feature | Class | Shape | Dtype | Description |
|---|---|---|---|---|
|   | FeaturesDict |   |   |   |
| episode_metadata | FeaturesDict |   |   |   |
| episode_metadata/file_path | Tensor |   | string |   |
| episode_metadata/trial_id | Tensor |   | string |   |
| steps | Dataset |   |   |   |
| steps/action | Tensor | (8,) | float32 |   |
| steps/discount | Scalar |   | float32 |   |
| steps/is_first | Tensor |   | bool |   |
| steps/is_last | Tensor |   | bool |   |
| steps/is_terminal | Tensor |   | bool |   |
| steps/language_instruction | Tensor |   | string |   |
| steps/observation | FeaturesDict |   |   |   |
| steps/observation/image_left | Image | (240, 424, 3) | uint8 |   |
| steps/observation/image_right | Image | (240, 424, 3) | uint8 |   |
| steps/observation/image_top | Image | (240, 424, 3) | uint8 |   |
| steps/observation/image_wrist | Image | (240, 424, 3) | uint8 |   |
| steps/observation/state | Tensor | (8,) | float32 |   |
| steps/observation/state_velocity | Tensor | (8,) | float32 |   |
| steps/reward | Scalar |   | float32 |   |

- **Supervised keys** (See
  [`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):
  `None`

- **Figure**
  ([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):
  Not supported.

- **Examples**
  ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):

<button id="displaydataframe">Display examples...</button>

- **Citation**:

    @misc{bharadhwaj2023roboagent, title={RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking}, author={Homanga Bharadhwaj and Jay Vakil and Mohit Sharma and Abhinav Gupta and Shubham Tulsiani and Vikash Kumar},  year={2023}, eprint={2309.01918}, archivePrefix={arXiv}, primaryClass={cs.RO} }