- Description:
Franka robot interacting with stylized kitchen tasks
Homepage: https://ut-austin-rpl.github.io/VIOLA/
Source code:
tfds.robotics.rtx.Viola
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
10.40 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
15 |
'train' |
135 |
- Feature structure:
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'gripper_closedness_action': float32,
'rotation_delta': Tensor(shape=(3,), dtype=float32),
'terminate_episode': float32,
'world_vector': Tensor(shape=(3,), dtype=float32),
}),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'agentview_rgb': Image(shape=(224, 224, 3), dtype=uint8, description=RGB captured by workspace camera),
'ee_states': Tensor(shape=(16,), dtype=float32, description=Pose of the end effector specified as a homogenous matrix.),
'eye_in_hand_rgb': Image(shape=(224, 224, 3), dtype=uint8, description=RGB captured by in hand camera),
'gripper_states': Tensor(shape=(1,), dtype=float32, description=gripper_states = 0 means the gripper is fully closed. The value represents the gripper width of Franka Panda Gripper.),
'joint_states': Tensor(shape=(7,), dtype=float32, description=joint values),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/gripper_closedness_action | Tensor | float32 | ||
steps/action/rotation_delta | Tensor | (3,) | float32 | |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/agentview_rgb | Image | (224, 224, 3) | uint8 | RGB captured by workspace camera |
steps/observation/ee_states | Tensor | (16,) | float32 | Pose of the end effector specified as a homogenous matrix. |
steps/observation/eye_in_hand_rgb | Image | (224, 224, 3) | uint8 | RGB captured by in hand camera |
steps/observation/gripper_states | Tensor | (1,) | float32 | gripper_states = 0 means the gripper is fully closed. The value represents the gripper width of Franka Panda Gripper. |
steps/observation/joint_states | Tensor | (7,) | float32 | joint values |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe): Missing.
Citation:
@article{zhu2022viola,
title={VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors},
author={Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke},
journal={6th Annual Conference on Robot Learning (CoRL)},
year={2022}
}