utokyo_xarm_bimanual_converted_externally_to_rlds
Stay organized with collections
Save and categorize content based on your preferences.
xArm bimanual setup folding towel
Split |
Examples |
'train' |
64 |
'val' |
6 |
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(14,), dtype=float32, description=Robot action, consists of [3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)].),
'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({
'action_l': Tensor(shape=(7,), dtype=float32, description=Left robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
'action_r': Tensor(shape=(7,), dtype=float32, description=Right robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].),
'image': Image(shape=(256, 256, 3), dtype=uint8, description=Main camera RGB observation.),
'pose_l': Tensor(shape=(6,), dtype=float32, description=Left robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
'pose_r': Tensor(shape=(6,), dtype=float32, description=Right robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
}),
'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
}),
})
Feature |
Class |
Shape |
Dtype |
Description |
|
FeaturesDict |
|
|
|
episode_metadata |
FeaturesDict |
|
|
|
episode_metadata/file_path |
Text |
|
string |
Path to the original data file. |
steps |
Dataset |
|
|
|
steps/action |
Tensor |
(14,) |
float32 |
Robot action, consists of [3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)]. |
steps/discount |
Scalar |
|
float32 |
Discount if provided, default to 1. |
steps/is_first |
Tensor |
|
bool |
|
steps/is_last |
Tensor |
|
bool |
|
steps/is_terminal |
Tensor |
|
bool |
|
steps/language_embedding |
Tensor |
(512,) |
float32 |
Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5 |
steps/language_instruction |
Text |
|
string |
Language Instruction. |
steps/observation |
FeaturesDict |
|
|
|
steps/observation/action_l |
Tensor |
(7,) |
float32 |
Left robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll]. |
steps/observation/action_r |
Tensor |
(7,) |
float32 |
Right robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position]. |
steps/observation/image |
Image |
(256, 256, 3) |
uint8 |
Main camera RGB observation. |
steps/observation/pose_l |
Tensor |
(6,) |
float32 |
Left robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll]. |
steps/observation/pose_r |
Tensor |
(6,) |
float32 |
Right robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll]. |
steps/reward |
Scalar |
|
float32 |
Reward if provided, 1 on final step for demos. |
@misc{matsushima2023weblab,
title={Weblab xArm Dataset},
author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
year={2023},
}
Except as otherwise noted, the content of this page is licensed under the Creative Commons Attribution 4.0 License, and code samples are licensed under the Apache 2.0 License. For details, see the Google Developers Site Policies. Java is a registered trademark of Oracle and/or its affiliates.
Last updated 2024-12-11 UTC.
[[["Easy to understand","easyToUnderstand","thumb-up"],["Solved my problem","solvedMyProblem","thumb-up"],["Other","otherUp","thumb-up"]],[["Missing the information I need","missingTheInformationINeed","thumb-down"],["Too complicated / too many steps","tooComplicatedTooManySteps","thumb-down"],["Out of date","outOfDate","thumb-down"],["Samples / code issue","samplesCodeIssue","thumb-down"],["Other","otherDown","thumb-down"]],["Last updated 2024-12-11 UTC."],[],[],null,["# utokyo_xarm_bimanual_converted_externally_to_rlds\n\n\u003cbr /\u003e\n\n- **Description**:\n\nxArm bimanual setup folding towel\n\n- **Homepage** : [--](/datasets/catalog/--)\n\n- **Source code** :\n [`tfds.robotics.rtx.UtokyoXarmBimanualConvertedExternallyToRlds`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/robotics/rtx/rtx.py)\n\n- **Versions**:\n\n - **`0.1.0`** (default): Initial release.\n- **Download size** : `Unknown size`\n\n- **Dataset size** : `138.44 MiB`\n\n- **Auto-cached**\n ([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):\n Yes\n\n- **Splits**:\n\n| Split | Examples |\n|-----------|----------|\n| `'train'` | 64 |\n| `'val'` | 6 |\n\n- **Feature structure**:\n\n FeaturesDict({\n 'episode_metadata': FeaturesDict({\n 'file_path': Text(shape=(), dtype=string),\n }),\n 'steps': Dataset({\n 'action': Tensor(shape=(14,), dtype=float32, description=Robot action, consists of [3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)].),\n 'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),\n 'is_first': bool,\n 'is_last': bool,\n 'is_terminal': bool,\n 'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),\n 'language_instruction': Text(shape=(), dtype=string),\n 'observation': FeaturesDict({\n 'action_l': Tensor(shape=(7,), dtype=float32, description=Left robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),\n 'action_r': Tensor(shape=(7,), dtype=float32, description=Right robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].),\n 'image': Image(shape=(256, 256, 3), dtype=uint8, description=Main camera RGB observation.),\n 'pose_l': Tensor(shape=(6,), dtype=float32, description=Left robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),\n 'pose_r': Tensor(shape=(6,), dtype=float32, description=Right robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),\n }),\n 'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),\n }),\n })\n\n- **Feature documentation**:\n\n| Feature | Class | Shape | Dtype | Description |\n|----------------------------|--------------|---------------|---------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| | FeaturesDict | | | |\n| episode_metadata | FeaturesDict | | | |\n| episode_metadata/file_path | Text | | string | Path to the original data file. |\n| steps | Dataset | | | |\n| steps/action | Tensor | (14,) | float32 | Robot action, consists of \\[3x EEF position (L), 3x EEF orientation yaw/pitch/roll (L), 1x gripper open/close position (L), 3x EEF position (R), 3x EEF orientation yaw/pitch/roll (R), 1x gripper open/close position (R)\\]. |\n| steps/discount | Scalar | | float32 | Discount if provided, default to 1. |\n| steps/is_first | Tensor | | bool | |\n| steps/is_last | Tensor | | bool | |\n| steps/is_terminal | Tensor | | bool | |\n| steps/language_embedding | Tensor | (512,) | float32 | Kona language embedding. See \u003chttps://tfhub.dev/google/universal-sentence-encoder-large/5\u003e |\n| steps/language_instruction | Text | | string | Language Instruction. |\n| steps/observation | FeaturesDict | | | |\n| steps/observation/action_l | Tensor | (7,) | float32 | Left robot action, consists of \\[3x EEF position, 3x EEF orientation yaw/pitch/roll\\]. |\n| steps/observation/action_r | Tensor | (7,) | float32 | Right robot action, consists of \\[3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position\\]. |\n| steps/observation/image | Image | (256, 256, 3) | uint8 | Main camera RGB observation. |\n| steps/observation/pose_l | Tensor | (6,) | float32 | Left robot end effector pose, consists of \\[3x EEF position, 3x EEF orientation yaw/pitch/roll\\]. |\n| steps/observation/pose_r | Tensor | (6,) | float32 | Right robot end effector pose, consists of \\[3x EEF position, 3x EEF orientation yaw/pitch/roll\\]. |\n| steps/reward | Scalar | | float32 | Reward if provided, 1 on final step for demos. |\n\n- **Supervised keys** (See\n [`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):\n `None`\n\n- **Figure**\n ([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):\n Not supported.\n\n- **Examples**\n ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):\n\nDisplay examples... \n\n- **Citation**:\n\n @misc{matsushima2023weblab,\n title={Weblab xArm Dataset},\n author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},\n year={2023},\n }"]]