toto

  • Description:

Franka scooping and pouring tasks

Split Examples
  • Feature structure:
FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'open_gripper': bool,
            'rotation_delta': Tensor(shape=(3,), dtype=float32),
            'terminate_episode': float32,
            'world_vector': Tensor(shape=(3,), dtype=float32),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'image': Image(shape=(480, 640, 3), dtype=uint8),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
            'state': Tensor(shape=(7,), dtype=float32, description=numpy array of shape (7,). Contains the robot joint states (as absolute joint angles) at each timestep),
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
steps Dataset
steps/action FeaturesDict
steps/action/open_gripper Tensor bool
steps/action/rotation_delta Tensor (3,) float32
steps/action/terminate_episode Tensor float32
steps/action/world_vector Tensor (3,) float32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/image Image (480, 640, 3) uint8
steps/observation/natural_language_embedding Tensor (512,) float32
steps/observation/natural_language_instruction Tensor string
steps/observation/state Tensor (7,) float32 numpy array of shape (7,). Contains the robot joint states (as absolute joint angles) at each timestep
steps/reward Scalar float32 
@inproceedings{zhou2023train,
  author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  title={Train Offline, Test Online: A Real Robot Learning Benchmark},
  year={2023},
 }