- Description:
A1 walking, no RGB
Homepage: https://saytap.github.io/
Source code:
tfds.robotics.rtx.UtokyoSaytapConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
55.34 MiB
Auto-cached (documentation): Yes
Splits:
Split | Examples |
---|---|
'train' |
20 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(12,), dtype=float32, description=Robot action, consists of [12x joint positios].),
'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({
'desired_pattern': Tensor(shape=(4, 5), dtype=bool, description=Desired foot contact pattern for the 4 legs, the 4 rows are for the front right, front left, rear right and rear left legs, the pattern length is 5 (=0.1s).),
'desired_vel': Tensor(shape=(3,), dtype=float32, description=Desired velocites. The first 2 are linear velocities along and perpendicular to the heading direction, the 3rd is the desired angular velocity about the yaw axis.),
'image': Image(shape=(64, 64, 3), dtype=uint8, description=Dummy camera RGB observation.),
'prev_act': Tensor(shape=(12,), dtype=float32, description=Actions applied in the previous step.),
'proj_grav_vec': Tensor(shape=(3,), dtype=float32, description=The gravity vector [0, 0, -1] in the robot base frame.),
'state': Tensor(shape=(30,), dtype=float32, description=Robot state, consists of [3x robot base linear velocity, 3x base angular vel, 12x joint position, 12x joint velocity].),
'wrist_image': Image(shape=(64, 64, 3), dtype=uint8, description=Dummy wrist camera RGB observation.),
}),
'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 | (12,) | float32 | Robot action, consists of [12x joint positios]. |
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/desired_pattern | Tensor | (4, 5) | bool | Desired foot contact pattern for the 4 legs, the 4 rows are for the front right, front left, rear right and rear left legs, the pattern length is 5 (=0.1s). |
steps/observation/desired_vel | Tensor | (3,) | float32 | Desired velocites. The first 2 are linear velocities along and perpendicular to the heading direction, the 3rd is the desired angular velocity about the yaw axis. |
steps/observation/image | Image | (64, 64, 3) | uint8 | Dummy camera RGB observation. |
steps/observation/prev_act | Tensor | (12,) | float32 | Actions applied in the previous step. |
steps/observation/proj_grav_vec | Tensor | (3,) | float32 | The gravity vector [0, 0, -1] in the robot base frame. |
steps/observation/state | Tensor | (30,) | float32 | Robot state, consists of [3x robot base linear velocity, 3x base angular vel, 12x joint position, 12x joint velocity]. |
steps/observation/wrist_image | Image | (64, 64, 3) | uint8 | Dummy wrist camera RGB observation. |
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{saytap2023,
author = {Yujin Tang and Wenhao Yu and Jie Tan and Heiga Zen and Aleksandra Faust and
Tatsuya Harada},
title = {SayTap: Language to Quadrupedal Locomotion},
eprint = {arXiv:2306.07580},
url = {https://saytap.github.io},
note = "{https://saytap.github.io}",
year = {2023}
}