utokyo_xarm_pick_and_place_converted_externally_to_rlds

  • Description:

xArm picking and placing objects

Split Examples
'train' 92
'val' 10
  • Feature structure:
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float32),
        'discount': Scalar(shape=(), dtype=float32),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'end_effector_pose': Tensor(shape=(6,), dtype=float32),
            'hand_image': Image(shape=(224, 224, 3), dtype=uint8),
            'image': Image(shape=(224, 224, 3), dtype=uint8),
            'image2': Image(shape=(224, 224, 3), dtype=uint8),
            'joint_state': Tensor(shape=(14,), dtype=float32),
            'joint_trajectory': Tensor(shape=(21,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • 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 (7,) float32 Robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].
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/end_effector_pose Tensor (6,) float32 Robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].
steps/observation/hand_image Image (224, 224, 3) uint8 Hand camera RGB observation.
steps/observation/image Image (224, 224, 3) uint8 Main camera RGB observation.
steps/observation/image2 Image (224, 224, 3) uint8 Another camera RGB observation from different view point.
steps/observation/joint_state Tensor (14,) float32 Robot joint state, consists of [7x robot joint angles, 7x robot joint velocity].
steps/observation/joint_trajectory Tensor (21,) float32 Robot joint trajectory, consists of [7x robot joint angles, 7x robot joint velocity, 7x robot joint acceralation].
steps/reward Scalar float32 Reward if provided, 1 on final step for demos. 
@misc{matsushima2023weblab,
  title={Weblab xArm Dataset},
  author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
  year={2023},
}