uiuc_d3field

  • Keterangan :

Mengatur meja kantor, peralatan dll

Membelah Contoh
'train' 192
  • Struktur fitur : 
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(shape=(), dtype=string),
    }),
    'steps': Dataset({
        'action': Tensor(shape=(3,), dtype=float32, description=Robot displacement from last frame),
        'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
        'language_instruction': Text(shape=(), dtype=string),
        'observation': FeaturesDict({
            'depth_1': Image(shape=(360, 640, 1), dtype=uint16, description=camera 1 depth observation.),
            'depth_2': Image(shape=(360, 640, 1), dtype=uint16, description=camera 2 depth observation.),
            'depth_3': Image(shape=(360, 640, 1), dtype=uint16, description=camera 3 depth observation.),
            'depth_4': Image(shape=(360, 640, 1), dtype=uint16, description=camera 4 depth observation.),
            'image_1': Image(shape=(360, 640, 3), dtype=uint8, description=camera 1 RGB observation.),
            'image_2': Image(shape=(360, 640, 3), dtype=uint8, description=camera 2 RGB observation.),
            'image_3': Image(shape=(360, 640, 3), dtype=uint8, description=camera 3 RGB observation.),
            'image_4': Image(shape=(360, 640, 3), dtype=uint8, description=camera 4 RGB observation.),
            'state': Tensor(shape=(4, 4), dtype=float32, description=Robot end-effector state),
        }),
        'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
    }),
})
  • Dokumentasi fitur :
Fitur Kelas Membentuk Tipe D Keterangan
FiturDict
episode_metadata FiturDict
episode_metadata/file_path Teks rangkaian Jalur ke file data asli.
tangga Kumpulan data
langkah/tindakan Tensor (3,) float32 Perpindahan robot dari frame terakhir
langkah/diskon Skalar float32 Diskon jika disediakan, defaultnya adalah 1.
langkah/adalah_pertama Tensor bodoh
langkah/adalah_terakhir Tensor bodoh
langkah/is_terminal Tensor bodoh
langkah/bahasa_embedding Tensor (512,) float32 Penyematan bahasa Kona. Lihat https://tfhub.dev/google/universal-sentence-encoder-large/5
langkah/bahasa_instruksi Teks rangkaian Instruksi Bahasa.
langkah/pengamatan FiturDict
langkah/pengamatan/kedalaman_1 Gambar (360, 640, 1) uint16 kamera 1 observasi kedalaman.
langkah/pengamatan/kedalaman_2 Gambar (360, 640, 1) uint16 observasi kedalaman kamera 2.
langkah/pengamatan/kedalaman_3 Gambar (360, 640, 1) uint16 kamera 3 observasi kedalaman.
langkah/pengamatan/kedalaman_4 Gambar (360, 640, 1) uint16 kamera 4 observasi kedalaman.
langkah/pengamatan/gambar_1 Gambar (360, 640, 3) uint8 kamera 1 observasi RGB.
langkah/pengamatan/gambar_2 Gambar (360, 640, 3) uint8 kamera 2 observasi RGB.
langkah/pengamatan/gambar_3 Gambar (360, 640, 3) uint8 kamera 3 observasi RGB.
langkah/pengamatan/gambar_4 Gambar (360, 640, 3) uint8 kamera 4 observasi RGB.
langkah/pengamatan/keadaan Tensor (4, 4) float32 Status efektor akhir robot
langkah/hadiah Skalar float32 Hadiah jika diberikan, 1 pada langkah terakhir untuk demo.
  • Kutipan : 
@article{wang2023d3field,
  title={D^3Field: Dynamic 3D Descriptor Fields for Generalizable Robotic Manipulation},
  author={Wang, Yixuan and Li, Zhuoran and Zhang, Mingtong and Driggs-Campbell, Katherine and Wu, Jiajun and Fei-Fei, Li and Li, Yunzhu},
  journal={arXiv preprint arXiv:},
  year={2023},
}