bridge_data_msr

  • Description:

A set of object manipulation trajectories collected at Microsoft Research on a WidowX-250 robot in a setup and format compatible with UC Berkeley's BridgeData V2 (https://rail-berkeley.github.io/bridgedata/)

Split Examples
'train' 822
  • Feature structure:
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': string,
        'has_depth_0': Scalar(shape=(), dtype=bool),
        'has_image_0': Scalar(shape=(), dtype=bool),
        'has_image_1': Scalar(shape=(), dtype=bool),
        'has_image_2': Scalar(shape=(), dtype=bool),
        'has_language': Scalar(shape=(), dtype=bool),
    }),
    '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': string,
        'observation': FeaturesDict({
            'depth_0': Image(shape=(480, 640, 1), dtype=uint8),
            'image_0': Image(shape=(480, 640, 3), dtype=uint8),
            'image_1': Image(shape=(480, 640, 3), dtype=uint8),
            'image_2': Image(shape=(480, 640, 3), dtype=uint8),
            'state': Tensor(shape=(7,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
episode_metadata FeaturesDict
episode_metadata/file_path Tensor string
episode_metadata/has_depth_0 Scalar bool
episode_metadata/has_image_0 Scalar bool
episode_metadata/has_image_1 Scalar bool
episode_metadata/has_image_2 Scalar bool
episode_metadata/has_language Scalar bool
steps Dataset
steps/action Tensor (7,) float32
steps/discount Scalar float32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/language_embedding Tensor (512,) float32
steps/language_instruction Tensor string
steps/observation FeaturesDict
steps/observation/depth_0 Image (480, 640, 1) uint8
steps/observation/image_0 Image (480, 640, 3) uint8
steps/observation/image_1 Image (480, 640, 3) uint8
steps/observation/image_2 Image (480, 640, 3) uint8
steps/observation/state Tensor (7,) float32
steps/reward Scalar float32
  • Citation: