- Description:
SIM dataset of a single robot arm performing procedurally-generated tabletop tasks with multimodal prompts, 600K+ trajectories
Homepage: https://vimalabs.github.io/
Source code:
tfds.robotics.rtx.VimaConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
Unknown size
Auto-cached (documentation): Unknown
Splits:
Split | Examples |
---|
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'action_bounds': FeaturesDict({
'high': Tensor(shape=(3,), dtype=float32),
'low': Tensor(shape=(3,), dtype=float32),
}),
'end-effector type': string,
'failure': Scalar(shape=(), dtype=bool),
'file_path': string,
'n_objects': Scalar(shape=(), dtype=int64),
'num_steps': Scalar(shape=(), dtype=int64),
'robot_components_seg_ids': Sequence(Scalar(shape=(), dtype=int64)),
'seed': Scalar(shape=(), dtype=int64),
'success': Scalar(shape=(), dtype=bool),
'task': string,
}),
'steps': Dataset({
'action': FeaturesDict({
'pose0_position': Tensor(shape=(3,), dtype=float32),
'pose0_rotation': Tensor(shape=(4,), dtype=float32),
'pose1_position': Tensor(shape=(3,), dtype=float32),
'pose1_rotation': Tensor(shape=(4,), dtype=float32),
}),
'discount': Scalar(shape=(), dtype=float32),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'multimodal_instruction': string,
'multimodal_instruction_assets': FeaturesDict({
'asset_type': Sequence(string),
'frontal_image': Sequence(Tensor(shape=(128, 256, 3), dtype=uint8)),
'frontal_segmentation': Sequence(Tensor(shape=(128, 256), dtype=uint8)),
'image': Sequence(Tensor(shape=(128, 256, 3), dtype=uint8)),
'key_name': Sequence(string),
'segmentation': Sequence(Tensor(shape=(128, 256), dtype=uint8)),
'segmentation_obj_info': Sequence({
'obj_name': Sequence(string),
'segm_id': Sequence(Scalar(shape=(), dtype=int64)),
'texture_name': Sequence(string),
}),
}),
'observation': FeaturesDict({
'ee': int64,
'frontal_image': Tensor(shape=(128, 256, 3), dtype=uint8),
'frontal_segmentation': Tensor(shape=(128, 256), dtype=uint8),
'image': Tensor(shape=(128, 256, 3), dtype=uint8),
'segmentation': Tensor(shape=(128, 256), dtype=uint8),
'segmentation_obj_info': FeaturesDict({
'obj_name': Sequence(string),
'segm_id': Sequence(Scalar(shape=(), dtype=int64)),
'texture_name': Sequence(string),
}),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/action_bounds | FeaturesDict | |||
episode_metadata/action_bounds/high | Tensor | (3,) | float32 | |
episode_metadata/action_bounds/low | Tensor | (3,) | float32 | |
episode_metadata/end-effector type | Tensor | string | ||
episode_metadata/failure | Scalar | bool | ||
episode_metadata/file_path | Tensor | string | ||
episode_metadata/n_objects | Scalar | int64 | ||
episode_metadata/num_steps | Scalar | int64 | ||
episode_metadata/robot_components_seg_ids | Sequence(Scalar) | (None,) | int64 | |
episode_metadata/seed | Scalar | int64 | ||
episode_metadata/success | Scalar | bool | ||
episode_metadata/task | Tensor | string | ||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/pose0_position | Tensor | (3,) | float32 | |
steps/action/pose0_rotation | Tensor | (4,) | float32 | |
steps/action/pose1_position | Tensor | (3,) | float32 | |
steps/action/pose1_rotation | Tensor | (4,) | float32 | |
steps/discount | Scalar | float32 | ||
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/multimodal_instruction | Tensor | string | ||
steps/multimodal_instruction_assets | FeaturesDict | |||
steps/multimodal_instruction_assets/asset_type | Sequence(Tensor) | (None,) | string | |
steps/multimodal_instruction_assets/frontal_image | Sequence(Tensor) | (None, 128, 256, 3) | uint8 | |
steps/multimodal_instruction_assets/frontal_segmentation | Sequence(Tensor) | (None, 128, 256) | uint8 | |
steps/multimodal_instruction_assets/image | Sequence(Tensor) | (None, 128, 256, 3) | uint8 | |
steps/multimodal_instruction_assets/key_name | Sequence(Tensor) | (None,) | string | |
steps/multimodal_instruction_assets/segmentation | Sequence(Tensor) | (None, 128, 256) | uint8 | |
steps/multimodal_instruction_assets/segmentation_obj_info | Sequence | |||
steps/multimodal_instruction_assets/segmentation_obj_info/obj_name | Sequence(Tensor) | (None,) | string | |
steps/multimodal_instruction_assets/segmentation_obj_info/segm_id | Sequence(Scalar) | (None,) | int64 | |
steps/multimodal_instruction_assets/segmentation_obj_info/texture_name | Sequence(Tensor) | (None,) | string | |
steps/observation | FeaturesDict | |||
steps/observation/ee | Tensor | int64 | ||
steps/observation/frontal_image | Tensor | (128, 256, 3) | uint8 | |
steps/observation/frontal_segmentation | Tensor | (128, 256) | uint8 | |
steps/observation/image | Tensor | (128, 256, 3) | uint8 | |
steps/observation/segmentation | Tensor | (128, 256) | uint8 | |
steps/observation/segmentation_obj_info | FeaturesDict | |||
steps/observation/segmentation_obj_info/obj_name | Sequence(Tensor) | (None,) | string | |
steps/observation/segmentation_obj_info/segm_id | Sequence(Scalar) | (None,) | int64 | |
steps/observation/segmentation_obj_info/texture_name | Sequence(Tensor) | (None,) | string | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
@inproceedings{jiang2023vima, title = {VIMA: General Robot Manipulation with Multimodal Prompts}, author = {Yunfan Jiang and Agrim Gupta and Zichen Zhang and Guanzhi Wang and Yongqiang Dou and Yanjun Chen and Li Fei-Fei and Anima Anandkumar and Yuke Zhu and Linxi Fan}, booktitle = {Fortieth International Conference on Machine Learning}, year = {2023}. }