- Description:
The Robomimic proficient human datasets were collected by 1 proficient operator using the RoboTurk platform (with the exception of Transport, which had 2 proficient operators working together). Each dataset consists of 200 successful trajectories.
Each task has two versions: one with low dimensional observations (low_dim
),
and one with images (image
).
The datasets follow the RLDS format to represent steps and episodes.
Source code:
tfds.datasets.robomimic_ph.Builder
Versions:
1.0.0
: Initial release.1.0.1
(default): Citation updated.
Splits:
Split | Examples |
---|---|
'train' |
200 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
@inproceedings{robomimic2021,
title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany
and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese
and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
booktitle={Conference on Robot Learning},
year={2021}
}
robomimic_ph/lift_ph_image (default config)
Download size:
798.43 MiB
Dataset size:
114.47 MiB
Auto-cached (documentation): Yes
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/agentview_image | Image | (84, 84, 3) | uint8 | |
steps/observation/object | Tensor | (10,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (84, 84, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (32,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/lift_ph_low_dim
Download size:
17.69 MiB
Dataset size:
8.50 MiB
Auto-cached (documentation): Yes
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(10,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(32,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (10,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (32,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/can_ph_image
Download size:
1.87 GiB
Dataset size:
474.55 MiB
Auto-cached (documentation): No
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/agentview_image | Image | (84, 84, 3) | uint8 | |
steps/observation/object | Tensor | (14,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (84, 84, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (71,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/can_ph_low_dim
Download size:
43.38 MiB
Dataset size:
27.73 MiB
Auto-cached (documentation): Yes
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(71,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (14,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (71,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/square_ph_image
Download size:
2.42 GiB
Dataset size:
401.28 MiB
Auto-cached (documentation): No
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/agentview_image | Image | (84, 84, 3) | uint8 | |
steps/observation/object | Tensor | (14,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (84, 84, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (45,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/square_ph_low_dim
Download size:
47.69 MiB
Dataset size:
29.91 MiB
Auto-cached (documentation): Yes
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(14,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(45,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (14,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (45,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/transport_ph_image
Download size:
15.07 GiB
Dataset size:
3.64 GiB
Auto-cached (documentation): No
Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot1_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
'shouldercamera0_image': Image(shape=(84, 84, 3), dtype=uint8),
'shouldercamera1_image': Image(shape=(84, 84, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (14,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (41,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (84, 84, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/observation/robot1_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot1_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot1_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot1_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot1_eye_in_hand_image | Image | (84, 84, 3) | uint8 | |
steps/observation/robot1_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot1_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot1_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/observation/shouldercamera0_image | Image | (84, 84, 3) | uint8 | |
steps/observation/shouldercamera1_image | Image | (84, 84, 3) | uint8 | |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (115,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/transport_ph_low_dim
Download size:
294.70 MiB
Dataset size:
208.05 MiB
Auto-cached (documentation): Only when
shuffle_files=False
(train)Feature structure:
FeaturesDict({
'20_percent': bool,
'20_percent_train': bool,
'20_percent_valid': bool,
'50_percent': bool,
'50_percent_train': bool,
'50_percent_valid': bool,
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(41,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
'robot1_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot1_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot1_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot1_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(115,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
20_percent | Tensor | bool | ||
20_percent_train | Tensor | bool | ||
20_percent_valid | Tensor | bool | ||
50_percent | Tensor | bool | ||
50_percent_train | Tensor | bool | ||
50_percent_valid | Tensor | bool | ||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (14,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (41,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/observation/robot1_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot1_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot1_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot1_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot1_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot1_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot1_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot1_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot1_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot1_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (115,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/tool_hang_ph_image
Download size:
61.96 GiB
Dataset size:
9.10 GiB
Auto-cached (documentation): No
Feature structure:
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_eye_in_hand_image': Image(shape=(240, 240, 3), dtype=uint8),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
'sideview_image': Image(shape=(240, 240, 3), dtype=uint8),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (44,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_eye_in_hand_image | Image | (240, 240, 3) | uint8 | |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/observation/sideview_image | Image | (240, 240, 3) | uint8 | |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (58,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |
robomimic_ph/tool_hang_ph_low_dim
Download size:
192.29 MiB
Dataset size:
121.77 MiB
Auto-cached (documentation): Yes
Feature structure:
FeaturesDict({
'episode_id': string,
'horizon': int32,
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float64),
'discount': int32,
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'object': Tensor(shape=(44,), dtype=float64),
'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
}),
'reward': float64,
'states': Tensor(shape=(58,), dtype=float64),
}),
'train': bool,
'valid': bool,
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_id | Tensor | string | ||
horizon | Tensor | int32 | ||
steps | Dataset | |||
steps/action | Tensor | (7,) | float64 | |
steps/discount | Tensor | int32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/object | Tensor | (44,) | float64 | |
steps/observation/robot0_eef_pos | Tensor | (3,) | float64 | End-effector position |
steps/observation/robot0_eef_quat | Tensor | (4,) | float64 | End-effector orientation |
steps/observation/robot0_eef_vel_ang | Tensor | (3,) | float64 | End-effector angular velocity |
steps/observation/robot0_eef_vel_lin | Tensor | (3,) | float64 | End-effector cartesian velocity |
steps/observation/robot0_gripper_qpos | Tensor | (2,) | float64 | Gripper position |
steps/observation/robot0_gripper_qvel | Tensor | (2,) | float64 | Gripper velocity |
steps/observation/robot0_joint_pos | Tensor | (7,) | float64 | 7DOF joint positions |
steps/observation/robot0_joint_pos_cos | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_pos_sin | Tensor | (7,) | float64 | |
steps/observation/robot0_joint_vel | Tensor | (7,) | float64 | 7DOF joint velocities |
steps/reward | Tensor | float64 | ||
steps/states | Tensor | (58,) | float64 | |
train | Tensor | bool | ||
valid | Tensor | bool |