- Description:
Franka preparing dumplings with various tools
Homepage: https://hshi74.github.io/robocook/
Source code:
tfds.robotics.rtx.StanfordRobocookConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
124.59 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
2,460 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'extrinsics_1': Tensor(shape=(4, 4), dtype=float32, description=Camera 1 Extrinsic Matrix.),
'extrinsics_2': Tensor(shape=(4, 4), dtype=float32, description=Camera 2 Extrinsic Matrix.),
'extrinsics_3': Tensor(shape=(4, 4), dtype=float32, description=Camera 3 Extrinsic Matrix.),
'extrinsics_4': Tensor(shape=(4, 4), dtype=float32, description=Camera 4 Extrinsic Matrix.),
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float32, description=Robot action, consists of [3x robot end-effector velocities, 3x robot end-effector angular velocities, 1x gripper velocity].),
'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
'language_instruction': Text(shape=(), dtype=string),
'observation': FeaturesDict({
'depth_1': Tensor(shape=(256, 256), dtype=float32, description=Camera 1 Depth observation.),
'depth_2': Tensor(shape=(256, 256), dtype=float32, description=Camera 2 Depth observation.),
'depth_3': Tensor(shape=(256, 256), dtype=float32, description=Camera 3 Depth observation.),
'depth_4': Tensor(shape=(256, 256), dtype=float32, description=Camera 4 Depth observation.),
'image_1': Image(shape=(256, 256, 3), dtype=uint8, description=Camera 1 RGB observation.),
'image_2': Image(shape=(256, 256, 3), dtype=uint8, description=Camera 2 RGB observation.),
'image_3': Image(shape=(256, 256, 3), dtype=uint8, description=Camera 3 RGB observation.),
'image_4': Image(shape=(256, 256, 3), dtype=uint8, description=Camera 4 RGB observation.),
'state': Tensor(shape=(7,), dtype=float32, description=Robot state, consists of [3x robot end-effector position, 3x robot end-effector euler angles, 1x gripper position].),
}),
'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/extrinsics_1 | Tensor | (4, 4) | float32 | Camera 1 Extrinsic Matrix. |
episode_metadata/extrinsics_2 | Tensor | (4, 4) | float32 | Camera 2 Extrinsic Matrix. |
episode_metadata/extrinsics_3 | Tensor | (4, 4) | float32 | Camera 3 Extrinsic Matrix. |
episode_metadata/extrinsics_4 | Tensor | (4, 4) | float32 | Camera 4 Extrinsic Matrix. |
episode_metadata/file_path | Text | string | Path to the original data file. | |
steps | Dataset | |||
steps/action | Tensor | (7,) | float32 | Robot action, consists of [3x robot end-effector velocities, 3x robot end-effector angular velocities, 1x gripper velocity]. |
steps/discount | Scalar | float32 | Discount if provided, default to 1. | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/language_embedding | Tensor | (512,) | float32 | Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5 |
steps/language_instruction | Text | string | Language Instruction. | |
steps/observation | FeaturesDict | |||
steps/observation/depth_1 | Tensor | (256, 256) | float32 | Camera 1 Depth observation. |
steps/observation/depth_2 | Tensor | (256, 256) | float32 | Camera 2 Depth observation. |
steps/observation/depth_3 | Tensor | (256, 256) | float32 | Camera 3 Depth observation. |
steps/observation/depth_4 | Tensor | (256, 256) | float32 | Camera 4 Depth observation. |
steps/observation/image_1 | Image | (256, 256, 3) | uint8 | Camera 1 RGB observation. |
steps/observation/image_2 | Image | (256, 256, 3) | uint8 | Camera 2 RGB observation. |
steps/observation/image_3 | Image | (256, 256, 3) | uint8 | Camera 3 RGB observation. |
steps/observation/image_4 | Image | (256, 256, 3) | uint8 | Camera 4 RGB observation. |
steps/observation/state | Tensor | (7,) | float32 | Robot state, consists of [3x robot end-effector position, 3x robot end-effector euler angles, 1x gripper position]. |
steps/reward | Scalar | float32 | Reward if provided, 1 on final step for demos. |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
@article{shi2023robocook,
title={RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools},
author={Shi, Haochen and Xu, Huazhe and Clarke, Samuel and Li, Yunzhu and Wu, Jiajun},
journal={arXiv preprint arXiv:2306.14447},
year={2023}
}