robo_set

• Keterangan :

Kumpulan data nyata dari satu lengan robot yang menunjukkan 12 keterampilan manipulasi non-sepele dalam 38 tugas, 7500 lintasan.

Membelah Contoh
`'train'` 18.250
• Struktur fitur :
``````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),
}),
})
``````
• Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
Langkah Himpunan data
langkah/tindakan Tensor (8,) float32
langkah/diskon Skalar float32
langkah/is_terminal Tensor bodoh
langkah/bahasa_instruksi Tensor rangkaian
langkah/pengamatan FiturDict
langkah/pengamatan/gambar_kiri Gambar (240, 424, 3) uint8
langkah/pengamatan/image_right Gambar (240, 424, 3) uint8
langkah/pengamatan/image_top Gambar (240, 424, 3) uint8
langkah/pengamatan/image_wrist Gambar (240, 424, 3) uint8
``````@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} }