Datasets:
metadata
dataset_info:
features:
- name: episode_idx
dtype: int32
- name: step_idx
dtype: int32
- name: image
dtype: image
- name: info
struct:
- name: action
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: relative_action
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: state
struct:
- name: end_effector_pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: observation
struct:
- name: image
dtype: image
- name: task
dtype: string
- name: action
struct:
- name: pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: grasp
dtype: float32
- name: supervision
dtype: float32
- name: relative_action
struct:
- name: pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: grasp
dtype: float32
- name: state
struct:
- name: end_effector_pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: is_first
dtype: int32
- name: is_last
dtype: int32
- name: is_terminal
dtype: int32
- name: image
struct:
- name: array
list:
list:
list: int32
- name: base64
dtype: string
- name: pil
dtype: image
- name: size
list: int32
- name: url
dtype: string
- name: encoding
dtype: string
splits:
- name: default
num_bytes: 104426842851.25
num_examples: 17058
- name: all
num_bytes: 209714586519.75
num_examples: 34222
download_size: 101883554825
dataset_size: 314141429371
configs:
- config_name: default
data_files:
- split: all
path: data/all-*
- split: default
path: data/default-*
license: mit
task_categories:
- robotics
size_categories:
- 100K<n<1M
PLEASE NOTE There is a bug in the calculation of grasp values. The state and original (relative) actions were summed instead of just using action "open_gripper" value.
See the info field for units, action types, bounds. The action is an absolute action calculated by summing the original action (now relative action) and end effector pose (originally state).
This dataset was processed from jxu124/OpenX-Embodiment.