io_ai_tech

Split Examples
'train' 3,847
  • Feature structure:
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': string,
    }),
    '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': Image(shape=(720, 1280, 1), dtype=uint8),
            'fisheye_camera_extrinsic': Tensor(shape=(4, 4), dtype=float32),
            'fisheye_camera_intrinsic': Tensor(shape=(3, 3), dtype=float32),
            'image': Image(shape=(360, 640, 3), dtype=uint8),
            'image_fisheye': Image(shape=(640, 800, 3), dtype=uint8),
            'image_left_side': Image(shape=(360, 640, 3), dtype=uint8),
            'image_right_side': Image(shape=(360, 640, 3), dtype=uint8),
            'left_camera_extrinsic': Tensor(shape=(4, 4), dtype=float32),
            'left_camera_intrinsic': Tensor(shape=(3, 3), dtype=float32),
            'main_camera_intrinsic': Tensor(shape=(3, 3), dtype=float32),
            'right_camera_extrinsic': Tensor(shape=(4, 4), dtype=float32),
            'right_camera_intrinsic': Tensor(shape=(3, 3), dtype=float32),
            'state': Tensor(shape=(8,), dtype=float32),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
episode_metadata FeaturesDict
episode_metadata/file_path Tensor string
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 Image (720, 1280, 1) uint8
steps/observation/fisheye_camera_extrinsic Tensor (4, 4) float32
steps/observation/fisheye_camera_intrinsic Tensor (3, 3) float32
steps/observation/image Image (360, 640, 3) uint8
steps/observation/image_fisheye Image (640, 800, 3) uint8
steps/observation/image_left_side Image (360, 640, 3) uint8
steps/observation/image_right_side Image (360, 640, 3) uint8
steps/observation/left_camera_extrinsic Tensor (4, 4) float32
steps/observation/left_camera_intrinsic Tensor (3, 3) float32
steps/observation/main_camera_intrinsic Tensor (3, 3) float32
steps/observation/right_camera_extrinsic Tensor (4, 4) float32
steps/observation/right_camera_intrinsic Tensor (3, 3) float32
steps/observation/state Tensor (8,) float32
steps/reward Scalar float32
  • Citation: