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--- |
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dataset_info: |
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features: |
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- name: episode_idx |
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dtype: int32 |
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- name: step_idx |
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dtype: int32 |
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- name: image |
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dtype: image |
|
- name: info |
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struct: |
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- name: action |
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struct: |
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- name: pose |
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struct: |
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- name: x |
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struct: |
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- name: reference_frame |
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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: |
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- name: reference_frame |
|
dtype: string |
|
- name: unit |
|
dtype: string |
|
- name: bounds |
|
dtype: string |
|
- name: roll |
|
struct: |
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- 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: |
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- name: reference_frame |
|
dtype: string |
|
- name: unit |
|
dtype: string |
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- name: bounds |
|
dtype: string |
|
- name: relative_action |
|
struct: |
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- 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: |
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- 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: |
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- robotics |
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size_categories: |
|
- 100K<n<1M |
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--- |
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|
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**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. |
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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). |
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This dataset was processed from jxu124/OpenX-Embodiment. |
