Hugging Face's logo

Datasets:
apchen
/
robot-part2

Dataset card Files Community
apchen commited on
Commit
2df3449
·
verified ·
1 Parent(s): babd4d8

Add files using upload-large-folder tool

Browse files
Files changed (12) hide show
  1. .gitattributes +9 -0
  2. berkeley_rpt_converted_externally_to_rlds/0.1.0/berkeley_rpt_converted_externally_to_rlds-train.tfrecord-00071-of-00441 +3 -0
  3. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/dataset_info.json +49 -0
  4. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/features.json +196 -0
  5. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00001-of-00016 +3 -0
  6. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00006-of-00016 +3 -0
  7. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00007-of-00016 +3 -0
  8. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00009-of-00016 +3 -0
  9. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00010-of-00016 +3 -0
  10. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00012-of-00016 +3 -0
  11. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00014-of-00016 +3 -0
  12. utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00015-of-00016 +3 -0
.gitattributes CHANGED
@@ -6614,3 +6614,12 @@ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_a
6614
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text
6615
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text
6616
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
6614
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text
6615
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text
6616
  utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text
6617
+ berkeley_rpt_converted_externally_to_rlds/0.1.0/berkeley_rpt_converted_externally_to_rlds-train.tfrecord-00071-of-00441 filter=lfs diff=lfs merge=lfs -text
6618
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text
6619
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text
6620
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text
6621
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text
6622
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text
6623
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text
6624
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text
6625
+ utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text
berkeley_rpt_converted_externally_to_rlds/0.1.0/berkeley_rpt_converted_externally_to_rlds-train.tfrecord-00071-of-00441 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b0af01dc37a46d30431de4356549a175bf06135f46651facb9910cddfbd308f
3
+ size 245763744
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/dataset_info.json ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "citation": "@misc{matsushima2023weblab,\n title={Weblab xArm Dataset},\n author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},\n year={2023},\n}",
3
+ "description": "xArm picking and placing objects",
4
+ "fileFormat": "tfrecord",
5
+ "location": {
6
+ "urls": [
7
+ "--"
8
+ ]
9
+ },
10
+ "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
11
+ "name": "utokyo_xarm_pick_and_place_converted_externally_to_rlds",
12
+ "releaseNotes": {
13
+ "0.1.0": "Initial release."
14
+ },
15
+ "splits": [
16
+ {
17
+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
18
+ "name": "train",
19
+ "numBytes": "1253130046",
20
+ "shardLengths": [
21
+ "5",
22
+ "4",
23
+ "4",
24
+ "6",
25
+ "8",
26
+ "5",
27
+ "5",
28
+ "6",
29
+ "8",
30
+ "8",
31
+ "5",
32
+ "4",
33
+ "7",
34
+ "4",
35
+ "6",
36
+ "7"
37
+ ]
38
+ },
39
+ {
40
+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
41
+ "name": "val",
42
+ "numBytes": "128241349",
43
+ "shardLengths": [
44
+ "10"
45
+ ]
46
+ }
47
+ ],
48
+ "version": "0.1.0"
49
+ }
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/features.json ADDED
@@ -0,0 +1,196 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
3
+ "featuresDict": {
4
+ "features": {
5
+ "steps": {
6
+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
7
+ "sequence": {
8
+ "feature": {
9
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
10
+ "featuresDict": {
11
+ "features": {
12
+ "observation": {
13
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
14
+ "featuresDict": {
15
+ "features": {
16
+ "end_effector_pose": {
17
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
18
+ "tensor": {
19
+ "shape": {
20
+ "dimensions": [
21
+ "6"
22
+ ]
23
+ },
24
+ "dtype": "float32",
25
+ "encoding": "none"
26
+ },
27
+ "description": "Robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll]."
28
+ },
29
+ "image": {
30
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
31
+ "image": {
32
+ "shape": {
33
+ "dimensions": [
34
+ "224",
35
+ "224",
36
+ "3"
37
+ ]
38
+ },
39
+ "dtype": "uint8",
40
+ "encodingFormat": "png"
41
+ },
42
+ "description": "Main camera RGB observation."
43
+ },
44
+ "joint_state": {
45
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
46
+ "tensor": {
47
+ "shape": {
48
+ "dimensions": [
49
+ "14"
50
+ ]
51
+ },
52
+ "dtype": "float32",
53
+ "encoding": "none"
54
+ },
55
+ "description": "Robot joint state, consists of [7x robot joint angles, 7x robot joint velocity]."
56
+ },
57
+ "joint_trajectory": {
58
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
59
+ "tensor": {
60
+ "shape": {
61
+ "dimensions": [
62
+ "21"
63
+ ]
64
+ },
65
+ "dtype": "float32",
66
+ "encoding": "none"
67
+ },
68
+ "description": "Robot joint trajectory, consists of [7x robot joint angles, 7x robot joint velocity, 7x robot joint acceralation]."
69
+ },
70
+ "image2": {
71
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
72
+ "image": {
73
+ "shape": {
74
+ "dimensions": [
75
+ "224",
76
+ "224",
77
+ "3"
78
+ ]
79
+ },
80
+ "dtype": "uint8",
81
+ "encodingFormat": "png"
82
+ },
83
+ "description": "Another camera RGB observation from different view point."
84
+ },
85
+ "hand_image": {
86
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
87
+ "image": {
88
+ "shape": {
89
+ "dimensions": [
90
+ "224",
91
+ "224",
92
+ "3"
93
+ ]
94
+ },
95
+ "dtype": "uint8",
96
+ "encodingFormat": "png"
97
+ },
98
+ "description": "Hand camera RGB observation."
99
+ }
100
+ }
101
+ }
102
+ },
103
+ "language_embedding": {
104
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
105
+ "tensor": {
106
+ "shape": {
107
+ "dimensions": [
108
+ "512"
109
+ ]
110
+ },
111
+ "dtype": "float32",
112
+ "encoding": "none"
113
+ },
114
+ "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
115
+ },
116
+ "action": {
117
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
118
+ "tensor": {
119
+ "shape": {
120
+ "dimensions": [
121
+ "7"
122
+ ]
123
+ },
124
+ "dtype": "float32",
125
+ "encoding": "none"
126
+ },
127
+ "description": "Robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position]."
128
+ },
129
+ "is_terminal": {
130
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
131
+ "tensor": {
132
+ "shape": {},
133
+ "dtype": "bool",
134
+ "encoding": "none"
135
+ }
136
+ },
137
+ "is_first": {
138
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
139
+ "tensor": {
140
+ "shape": {},
141
+ "dtype": "bool",
142
+ "encoding": "none"
143
+ }
144
+ },
145
+ "discount": {
146
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
147
+ "tensor": {
148
+ "shape": {},
149
+ "dtype": "float32",
150
+ "encoding": "none"
151
+ },
152
+ "description": "Discount if provided, default to 1."
153
+ },
154
+ "is_last": {
155
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
156
+ "tensor": {
157
+ "shape": {},
158
+ "dtype": "bool",
159
+ "encoding": "none"
160
+ }
161
+ },
162
+ "language_instruction": {
163
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
164
+ "text": {},
165
+ "description": "Language Instruction."
166
+ },
167
+ "reward": {
168
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
169
+ "tensor": {
170
+ "shape": {},
171
+ "dtype": "float32",
172
+ "encoding": "none"
173
+ },
174
+ "description": "Reward if provided, 1 on final step for demos."
175
+ }
176
+ }
177
+ }
178
+ },
179
+ "length": "-1"
180
+ }
181
+ },
182
+ "episode_metadata": {
183
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
184
+ "featuresDict": {
185
+ "features": {
186
+ "file_path": {
187
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
188
+ "text": {},
189
+ "description": "Path to the original data file."
190
+ }
191
+ }
192
+ }
193
+ }
194
+ }
195
+ }
196
+ }
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00001-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1231cb0bb244bec302db3ced97db161cc32da1097fb8cc318445fe12fda8571f
3
+ size 58305199
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00006-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85d9a5290e1c5c5b5e048361a3d31fd4d80a4f0195ce01e1f8fe23ea8fde435a
3
+ size 69098451
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00007-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d9652f520c2a3adebe44355f4e58f9225f4c0c73e597330543c8c5881ac3fa8a
3
+ size 85095036
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00009-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a9e1885eb4e1af0ef63c44529bad237bc3bd6e75caabd6c5a65e9b748249203
3
+ size 109772738
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00010-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad80dce5667225634ae31abe115382a5d47242273422a0f8f83e8155d971239b
3
+ size 66172686
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00012-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b24d1de064df77697d426c9dc87b46aa54453f2d039ca217029deef9003b082
3
+ size 91723200
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00014-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b35209045a7eacd44b6292a18fd1bda7f5ff4eaed9c3fba74630498b2affcf9e
3
+ size 78668264
utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/utokyo_xarm_pick_and_place_converted_externally_to_rlds-train.tfrecord-00015-of-00016 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e83299e65abffae045682cf8b47a23ef8aa223a51a2f2eb7e28e16e5850cbe8f
3
+ size 94748208