uiuc_d3field

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.),
    }),
})

@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},
}