- Description:
Organizing office desk, utensils etc
Homepage: https://robopil.github.io/d3fields/
Source code:
tfds.robotics.rtx.UiucD3field
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
15.82 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
192 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(3,), dtype=float32, description=Robot displacement from last frame),
'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': Image(shape=(360, 640, 1), dtype=uint16, description=camera 1 depth observation.),
'depth_2': Image(shape=(360, 640, 1), dtype=uint16, description=camera 2 depth observation.),
'depth_3': Image(shape=(360, 640, 1), dtype=uint16, description=camera 3 depth observation.),
'depth_4': Image(shape=(360, 640, 1), dtype=uint16, description=camera 4 depth observation.),
'image_1': Image(shape=(360, 640, 3), dtype=uint8, description=camera 1 RGB observation.),
'image_2': Image(shape=(360, 640, 3), dtype=uint8, description=camera 2 RGB observation.),
'image_3': Image(shape=(360, 640, 3), dtype=uint8, description=camera 3 RGB observation.),
'image_4': Image(shape=(360, 640, 3), dtype=uint8, description=camera 4 RGB observation.),
'state': Tensor(shape=(4, 4), dtype=float32, description=Robot end-effector state),
}),
'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/file_path | Text | string | Path to the original data file. | |
steps | Dataset | |||
steps/action | Tensor | (3,) | float32 | Robot displacement from last frame |
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 | Image | (360, 640, 1) | uint16 | camera 1 depth observation. |
steps/observation/depth_2 | Image | (360, 640, 1) | uint16 | camera 2 depth observation. |
steps/observation/depth_3 | Image | (360, 640, 1) | uint16 | camera 3 depth observation. |
steps/observation/depth_4 | Image | (360, 640, 1) | uint16 | camera 4 depth observation. |
steps/observation/image_1 | Image | (360, 640, 3) | uint8 | camera 1 RGB observation. |
steps/observation/image_2 | Image | (360, 640, 3) | uint8 | camera 2 RGB observation. |
steps/observation/image_3 | Image | (360, 640, 3) | uint8 | camera 3 RGB observation. |
steps/observation/image_4 | Image | (360, 640, 3) | uint8 | camera 4 RGB observation. |
steps/observation/state | Tensor | (4, 4) | float32 | Robot end-effector state |
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{wang2023d3field,
title={D^3Field: Dynamic 3D Descriptor Fields for Generalizable Robotic Manipulation},
author={Wang, Yixuan and Li, Zhuoran and Zhang, Mingtong and Driggs-Campbell, Katherine and Wu, Jiajun and Fei-Fei, Li and Li, Yunzhu},
journal={arXiv preprint arXiv:},
year={2023},
}