- Description:
Routing cable into clamps on table top
Homepage: https://sites.google.com/view/cablerouting/home
Source code:
tfds.robotics.rtx.BerkeleyCableRouting
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
4.67 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'test' |
165 |
'train' |
1,482 |
- Feature structure:
FeaturesDict({
'steps': Dataset({
'action': FeaturesDict({
'rotation_delta': Tensor(shape=(3,), dtype=float32, description=Angular velocity about the z axis.),
'terminate_episode': float32,
'world_vector': Tensor(shape=(3,), dtype=float32, description=Velocity in XYZ.),
}),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'observation': FeaturesDict({
'image': Image(shape=(128, 128, 3), dtype=uint8),
'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
'natural_language_instruction': string,
'robot_state': Tensor(shape=(7,), dtype=float32),
'top_image': Image(shape=(128, 128, 3), dtype=uint8),
'wrist225_image': Image(shape=(128, 128, 3), dtype=uint8),
'wrist45_image': Image(shape=(128, 128, 3), dtype=uint8),
}),
'reward': Scalar(shape=(), dtype=float32),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
steps | Dataset | |||
steps/action | FeaturesDict | |||
steps/action/rotation_delta | Tensor | (3,) | float32 | Angular velocity about the z axis. |
steps/action/terminate_episode | Tensor | float32 | ||
steps/action/world_vector | Tensor | (3,) | float32 | Velocity in XYZ. |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (128, 128, 3) | uint8 | |
steps/observation/natural_language_embedding | Tensor | (512,) | float32 | |
steps/observation/natural_language_instruction | Tensor | string | ||
steps/observation/robot_state | Tensor | (7,) | float32 | |
steps/observation/top_image | Image | (128, 128, 3) | uint8 | |
steps/observation/wrist225_image | Image | (128, 128, 3) | uint8 | |
steps/observation/wrist45_image | Image | (128, 128, 3) | uint8 | |
steps/reward | Scalar | float32 |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@article{luo2023multistage,
author = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
title = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
journal = {arXiv pre-print},
year = {2023},
url = {https://arxiv.org/abs/2307.08927},
}