apchen commited on
Commit
ddebc0b
·
verified ·
1 Parent(s): 25a7896

Add files using upload-large-folder tool

Browse files
Files changed (22) hide show
  1. .gitattributes +16 -0
  2. dlr_sara_grid_clamp_converted_externally_to_rlds/0.1.0/dataset_info.json +41 -0
  3. dlr_sara_grid_clamp_converted_externally_to_rlds/0.1.0/features.json +140 -0
  4. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00022-of-00128 +3 -0
  5. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00036-of-00128 +3 -0
  6. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00040-of-00128 +3 -0
  7. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00042-of-00128 +3 -0
  8. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00046-of-00128 +3 -0
  9. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00084-of-00128 +3 -0
  10. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00091-of-00128 +3 -0
  11. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00095-of-00128 +3 -0
  12. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00099-of-00128 +3 -0
  13. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00102-of-00128 +3 -0
  14. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00107-of-00128 +3 -0
  15. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00120-of-00128 +3 -0
  16. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00123-of-00128 +3 -0
  17. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00125-of-00128 +3 -0
  18. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00126-of-00128 +3 -0
  19. uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00127-of-00128 +3 -0
  20. utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/0.1.0/dataset_info.json +42 -0
  21. utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/0.1.0/features.json +140 -0
  22. utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/1.0.0/dataset_info.json +35 -0
.gitattributes CHANGED
@@ -5580,3 +5580,19 @@ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00043-of-00128 filter=lfs diff=lf
5580
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00078-of-00128 filter=lfs diff=lfs merge=lfs -text
5581
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00093-of-00128 filter=lfs diff=lfs merge=lfs -text
5582
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00013-of-00128 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5580
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00078-of-00128 filter=lfs diff=lfs merge=lfs -text
5581
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00093-of-00128 filter=lfs diff=lfs merge=lfs -text
5582
  uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00013-of-00128 filter=lfs diff=lfs merge=lfs -text
5583
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00123-of-00128 filter=lfs diff=lfs merge=lfs -text
5584
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00040-of-00128 filter=lfs diff=lfs merge=lfs -text
5585
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00095-of-00128 filter=lfs diff=lfs merge=lfs -text
5586
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00091-of-00128 filter=lfs diff=lfs merge=lfs -text
5587
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00107-of-00128 filter=lfs diff=lfs merge=lfs -text
5588
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00102-of-00128 filter=lfs diff=lfs merge=lfs -text
5589
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00126-of-00128 filter=lfs diff=lfs merge=lfs -text
5590
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00036-of-00128 filter=lfs diff=lfs merge=lfs -text
5591
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00022-of-00128 filter=lfs diff=lfs merge=lfs -text
5592
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00127-of-00128 filter=lfs diff=lfs merge=lfs -text
5593
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00042-of-00128 filter=lfs diff=lfs merge=lfs -text
5594
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00084-of-00128 filter=lfs diff=lfs merge=lfs -text
5595
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00125-of-00128 filter=lfs diff=lfs merge=lfs -text
5596
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00120-of-00128 filter=lfs diff=lfs merge=lfs -text
5597
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00099-of-00128 filter=lfs diff=lfs merge=lfs -text
5598
+ uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00046-of-00128 filter=lfs diff=lfs merge=lfs -text
dlr_sara_grid_clamp_converted_externally_to_rlds/0.1.0/dataset_info.json ADDED
@@ -0,0 +1,41 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "citation": "@article{padalkar2023guided,\n title={A guided reinforcement learning approach using shared control templates for learning manipulation skills in the real world},\n author={Padalkar, Abhishek and Quere, Gabriel and Raffin, Antonin and Silv{'e}rio, Jo{\\~a}o and Stulp, Freek},\n journal={Research square preprint rs-3289569/v1},\n year={2023}\n}",
3
+ "description": "place grid clamp onto grids on table",
4
+ "fileFormat": "tfrecord",
5
+ "location": {
6
+ "urls": [
7
+ "https://www.researchsquare.com/article/rs-3289569/v1"
8
+ ]
9
+ },
10
+ "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
11
+ "name": "dlr_sara_grid_clamp_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": "1773049053",
20
+ "shardLengths": [
21
+ "4",
22
+ "5",
23
+ "10",
24
+ "6",
25
+ "7",
26
+ "10",
27
+ "7",
28
+ "5",
29
+ "10",
30
+ "9",
31
+ "6",
32
+ "6",
33
+ "5",
34
+ "5",
35
+ "5",
36
+ "7"
37
+ ]
38
+ }
39
+ ],
40
+ "version": "0.1.0"
41
+ }
dlr_sara_grid_clamp_converted_externally_to_rlds/0.1.0/features.json ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "is_last": {
13
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
14
+ "tensor": {
15
+ "shape": {},
16
+ "dtype": "bool",
17
+ "encoding": "none"
18
+ }
19
+ },
20
+ "discount": {
21
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
22
+ "tensor": {
23
+ "shape": {},
24
+ "dtype": "float32",
25
+ "encoding": "none"
26
+ },
27
+ "description": "Discount if provided, default to 1."
28
+ },
29
+ "action": {
30
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
31
+ "tensor": {
32
+ "shape": {
33
+ "dimensions": [
34
+ "7"
35
+ ]
36
+ },
37
+ "dtype": "float32",
38
+ "encoding": "none"
39
+ },
40
+ "description": "Robot action, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(=\"zxy\") Class]."
41
+ },
42
+ "language_instruction": {
43
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
44
+ "text": {},
45
+ "description": "Pour into the mug."
46
+ },
47
+ "reward": {
48
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
49
+ "tensor": {
50
+ "shape": {},
51
+ "dtype": "float32",
52
+ "encoding": "none"
53
+ },
54
+ "description": "Reward if provided, 1 on final step for demos."
55
+ },
56
+ "is_terminal": {
57
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
58
+ "tensor": {
59
+ "shape": {},
60
+ "dtype": "bool",
61
+ "encoding": "none"
62
+ }
63
+ },
64
+ "is_first": {
65
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
66
+ "tensor": {
67
+ "shape": {},
68
+ "dtype": "bool",
69
+ "encoding": "none"
70
+ }
71
+ },
72
+ "language_embedding": {
73
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
74
+ "tensor": {
75
+ "shape": {
76
+ "dimensions": [
77
+ "512"
78
+ ]
79
+ },
80
+ "dtype": "float32",
81
+ "encoding": "none"
82
+ },
83
+ "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
84
+ },
85
+ "observation": {
86
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
87
+ "featuresDict": {
88
+ "features": {
89
+ "state": {
90
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
91
+ "tensor": {
92
+ "shape": {
93
+ "dimensions": [
94
+ "12"
95
+ ]
96
+ },
97
+ "dtype": "float32",
98
+ "encoding": "none"
99
+ },
100
+ "description": "Robot state, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(\"zxy\") Class, 6x robot EEF wrench]."
101
+ },
102
+ "image": {
103
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
104
+ "image": {
105
+ "shape": {
106
+ "dimensions": [
107
+ "480",
108
+ "640",
109
+ "3"
110
+ ]
111
+ },
112
+ "dtype": "uint8",
113
+ "encodingFormat": "png"
114
+ },
115
+ "description": "Main camera RGB observation."
116
+ }
117
+ }
118
+ }
119
+ }
120
+ }
121
+ }
122
+ },
123
+ "length": "-1"
124
+ }
125
+ },
126
+ "episode_metadata": {
127
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
128
+ "featuresDict": {
129
+ "features": {
130
+ "file_path": {
131
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
132
+ "text": {},
133
+ "description": "Path to the original data file."
134
+ }
135
+ }
136
+ }
137
+ }
138
+ }
139
+ }
140
+ }
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00022-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc833d2a00a9479a610f495ea0eb45dd40da11d7565f382b54c68272c46b62ac
3
+ size 116122323
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00036-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4980ce38d96c4318a90f75869c3a4ca50b2c08c7f3847f0591591c4bcd78c796
3
+ size 46801193
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00040-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab357cc715a1263714b0cd4f21c02e99de977cae0319d80b7b134a3a732ed280
3
+ size 249659106
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00042-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8f377daadd2f6c28d4f2dc2a4684eb28eabd2f948be54f645c3d40c0a56be2d3
3
+ size 254433593
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00046-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:00e45204dcbe9707914eb3849cdf4e98c4d58b37599a5c4a27305167a16f3ece
3
+ size 127158198
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00084-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4c536c37d25f662753d0a0a8371f86ed99bab97e8949e2e2264fc47e114f908
3
+ size 126917886
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00091-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68bd8d7fd2d50319ea3a6517ecd36ac2de9455eabf61c9b2f4d17fe446160cd1
3
+ size 246456782
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00095-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eed255a2b40fe38b1d44640b2ae5df8226982f1d6b81a347e67096c4c57464d1
3
+ size 205212294
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00099-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bf76a26a2fa92e263b0da14cb18cbcf642c0270368621e72126f03ea18550e0
3
+ size 128664466
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00102-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1e30ad25ebb65821c22c8682661eafeec3fc07df812f4fcf723403895e931c6
3
+ size 188902427
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00107-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:add45af57dc45da481b928527837cc963a4e3a1fa57533af30f6350f704bac37
3
+ size 144466464
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00120-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ced4a85a77c831a1b26eaf0d4c1a89f18fdb1fc4265fdf9341000c7851d2f28f
3
+ size 126080282
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00123-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50fb6e7d9317a8a6fa93ec256b4dc10ea9eb73e98c1363647d9a443058e8408f
3
+ size 242597214
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00125-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:feaf1039f1d010b46d0e1b13d7b7fc0ddbdab932ce38a207df7482d76cefbfa5
3
+ size 109297373
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00126-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ffcf9c515ae7ca0292e0d9b1d13760f6269f545a24ad29edbe69b36f619eccb
3
+ size 93573240
uiuc_d3field/1.1.2/uiuc_d3field-train.tfrecord-00127-of-00128 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5fc069f4a3a1db394c72903ea47bc3ac139b4e737354f8e2e3a25fbafa8dd906
3
+ size 148136390
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/0.1.0/dataset_info.json ADDED
@@ -0,0 +1,42 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "citation": "tbd",
3
+ "description": "tbd",
4
+ "fileFormat": "tfrecord",
5
+ "location": {
6
+ "urls": [
7
+ "tbd"
8
+ ]
9
+ },
10
+ "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
11
+ "name": "utokyo_pr2_tabletop_manipulation_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": "701002051",
20
+ "shardLengths": [
21
+ "35",
22
+ "20",
23
+ "21",
24
+ "20",
25
+ "20",
26
+ "22",
27
+ "23",
28
+ "31"
29
+ ]
30
+ },
31
+ {
32
+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
33
+ "name": "val",
34
+ "numBytes": "168655249",
35
+ "shardLengths": [
36
+ "23",
37
+ "25"
38
+ ]
39
+ }
40
+ ],
41
+ "version": "0.1.0"
42
+ }
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/0.1.0/features.json ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
3
+ "featuresDict": {
4
+ "features": {
5
+ "episode_metadata": {
6
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
7
+ "featuresDict": {
8
+ "features": {
9
+ "file_path": {
10
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
11
+ "text": {},
12
+ "description": "Path to the original data file."
13
+ }
14
+ }
15
+ }
16
+ },
17
+ "steps": {
18
+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
19
+ "sequence": {
20
+ "feature": {
21
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
22
+ "featuresDict": {
23
+ "features": {
24
+ "discount": {
25
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
26
+ "tensor": {
27
+ "shape": {},
28
+ "dtype": "float32",
29
+ "encoding": "none"
30
+ },
31
+ "description": "Discount if provided, default to 1."
32
+ },
33
+ "is_terminal": {
34
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
35
+ "tensor": {
36
+ "shape": {},
37
+ "dtype": "bool",
38
+ "encoding": "none"
39
+ }
40
+ },
41
+ "language_embedding": {
42
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
43
+ "tensor": {
44
+ "shape": {
45
+ "dimensions": [
46
+ "512"
47
+ ]
48
+ },
49
+ "dtype": "float32",
50
+ "encoding": "none"
51
+ },
52
+ "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
53
+ },
54
+ "language_instruction": {
55
+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
56
+ "text": {},
57
+ "description": "Language Instruction."
58
+ },
59
+ "observation": {
60
+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
61
+ "featuresDict": {
62
+ "features": {
63
+ "image": {
64
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
65
+ "image": {
66
+ "shape": {
67
+ "dimensions": [
68
+ "128",
69
+ "128",
70
+ "3"
71
+ ]
72
+ },
73
+ "dtype": "uint8",
74
+ "encodingFormat": "png"
75
+ },
76
+ "description": "Main camera RGB observation."
77
+ },
78
+ "state": {
79
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
80
+ "tensor": {
81
+ "shape": {
82
+ "dimensions": [
83
+ "7"
84
+ ]
85
+ },
86
+ "dtype": "float32",
87
+ "encoding": "none"
88
+ },
89
+ "description": "Robot state, consists of [3x end effector pos, 3x robot rpy angles, 1x gripper position]."
90
+ }
91
+ }
92
+ }
93
+ },
94
+ "action": {
95
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
96
+ "tensor": {
97
+ "shape": {
98
+ "dimensions": [
99
+ "8"
100
+ ]
101
+ },
102
+ "dtype": "float32",
103
+ "encoding": "none"
104
+ },
105
+ "description": "Robot action, consists of [3x end effector pos, 3x robot rpy angles, 1x gripper open/close command, 1x terminal action]."
106
+ },
107
+ "is_last": {
108
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
109
+ "tensor": {
110
+ "shape": {},
111
+ "dtype": "bool",
112
+ "encoding": "none"
113
+ }
114
+ },
115
+ "reward": {
116
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
117
+ "tensor": {
118
+ "shape": {},
119
+ "dtype": "float32",
120
+ "encoding": "none"
121
+ },
122
+ "description": "Reward if provided, 1 on final step for demos."
123
+ },
124
+ "is_first": {
125
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
126
+ "tensor": {
127
+ "shape": {},
128
+ "dtype": "bool",
129
+ "encoding": "none"
130
+ }
131
+ }
132
+ }
133
+ }
134
+ },
135
+ "length": "-1"
136
+ }
137
+ }
138
+ }
139
+ }
140
+ }
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds/1.0.0/dataset_info.json ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "fileFormat": "array_record",
3
+ "moduleName": "__main__",
4
+ "name": "utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds",
5
+ "releaseNotes": {
6
+ "0.0.1": "Initial release."
7
+ },
8
+ "splits": [
9
+ {
10
+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
11
+ "name": "train",
12
+ "numBytes": "701002051",
13
+ "shardLengths": [
14
+ "19",
15
+ "27",
16
+ "25",
17
+ "22",
18
+ "22",
19
+ "29",
20
+ "22",
21
+ "26"
22
+ ]
23
+ },
24
+ {
25
+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
26
+ "name": "val",
27
+ "numBytes": "168655249",
28
+ "shardLengths": [
29
+ "24",
30
+ "24"
31
+ ]
32
+ }
33
+ ],
34
+ "version": "1.0.0"
35
+ }