เป็นระเบียบเรียบร้อย

FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': string,
    }),
    'steps': Dataset({
        'action': string,
        '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({
            'image': Image(shape=(360, 640, 3), dtype=uint8),
            'object': string,
            'receptacles': Sequence(string),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

@article{wu2023tidybot,title = {TidyBot: Personalized Robot Assistance with Large Language Models},author = {Wu, Jimmy and Antonova, Rika and Kan, Adam and Lepert, Marion and Zeng, Andy and Song, Shuran and Bohg, Jeannette and Rusinkiewicz, Szymon and Funkhouser, Thomas},journal = {Autonomous Robots},year = {2023} }