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- .gitattributes +96 -0
- libero_rlds/.gitattributes +59 -0
- libero_rlds/README.md +25 -0
- libero_rlds/libero_10_no_noops/1.0.0/dataset_info.json +52 -0
- libero_rlds/libero_10_no_noops/1.0.0/dataset_statistics_7e2c79afcc2ff7ba82bd6d8fedc5b0950234243747e33b5127c05ab00ff749ba.json +1 -0
- libero_rlds/libero_10_no_noops/1.0.0/features.json +158 -0
- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00000-of-00032 +3 -0
- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00001-of-00032 +3 -0
- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00002-of-00032 +3 -0
- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00003-of-00032 +3 -0
- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00004-of-00032 +3 -0
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- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00024-of-00032 +3 -0
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- libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00031-of-00032 +3 -0
- libero_rlds/libero_goal_no_noops/1.0.0/dataset_info.json +36 -0
- libero_rlds/libero_goal_no_noops/1.0.0/dataset_statistics_5e55235b473191726089747a1770390b4905be721bcf5690da498b02c64ec9ae.json +1 -0
- libero_rlds/libero_goal_no_noops/1.0.0/features.json +158 -0
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- libero_rlds/libero_goal_no_noops/1.0.0/libero_goal-train.tfrecord-00001-of-00016 +3 -0
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- libero_rlds/libero_goal_no_noops/1.0.0/libero_goal-train.tfrecord-00005-of-00016 +3 -0
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- libero_rlds/libero_goal_no_noops/1.0.0/libero_goal-train.tfrecord-00008-of-00016 +3 -0
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libero_rlds/libero_object_no_noops/1.0.0/libero_object-train.tfrecord-00030-of-00032 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text
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libero_rlds/.gitattributes
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saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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# Audio files - uncompressed
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*.raw filter=lfs diff=lfs merge=lfs -text
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libero_rlds/README.md
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| 1 |
+
---
|
| 2 |
+
license: mit
|
| 3 |
+
---
|
| 4 |
+
# Modified LIBERO RLDS Datasets
|
| 5 |
+
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| 6 |
+
This repository contains the four modified [LIBERO](https://libero-project.github.io/main.html) datasets
|
| 7 |
+
used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the
|
| 8 |
+
[OpenVLA paper](https://arxiv.org/abs/2406.09246) for details about the fine-tuning experiments and
|
| 9 |
+
specific dataset modifications, and see the [OpenVLA GitHub README](https://github.com/openvla/openvla/blob/main/README.md)
|
| 10 |
+
for instructions on how to run OpenVLA in LIBERO environments.
|
| 11 |
+
|
| 12 |
+
## Citation
|
| 13 |
+
|
| 14 |
+
**BibTeX:**
|
| 15 |
+
|
| 16 |
+
```bibtex
|
| 17 |
+
@article{kim24openvla,
|
| 18 |
+
title={OpenVLA: An Open-Source Vision-Language-Action Model},
|
| 19 |
+
author={{Moo Jin} Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn},
|
| 20 |
+
journal = {arXiv preprint arXiv:2406.09246},
|
| 21 |
+
year={2024}
|
| 22 |
+
}
|
| 23 |
+
```
|
| 24 |
+
|
| 25 |
+
Please also refer to the [LIBERO project repo](https://github.com/Lifelong-Robot-Learning/LIBERO) for the LIBERO citation.
|
libero_rlds/libero_10_no_noops/1.0.0/dataset_info.json
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{
|
| 2 |
+
"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
+
"description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"moduleName": "LIBERO_10.LIBERO_10_dataset_builder",
|
| 6 |
+
"name": "liber_o10",
|
| 7 |
+
"releaseNotes": {
|
| 8 |
+
"1.0.0": "Initial release."
|
| 9 |
+
},
|
| 10 |
+
"splits": [
|
| 11 |
+
{
|
| 12 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 13 |
+
"name": "train",
|
| 14 |
+
"numBytes": "3656799026",
|
| 15 |
+
"shardLengths": [
|
| 16 |
+
"12",
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| 17 |
+
"12",
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+
"12",
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| 19 |
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"11",
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"12",
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"12",
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"12",
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"12",
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"12",
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"11",
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"12",
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"12",
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"12",
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"12",
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"12",
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"12",
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"11",
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"12",
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"12",
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"12",
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"12",
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"12",
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"11",
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"12",
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"12",
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"12",
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| 42 |
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"12",
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"12",
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"11",
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"12",
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"12",
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"12"
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
],
|
| 51 |
+
"version": "1.0.0"
|
| 52 |
+
}
|
libero_rlds/libero_10_no_noops/1.0.0/dataset_statistics_7e2c79afcc2ff7ba82bd6d8fedc5b0950234243747e33b5127c05ab00ff749ba.json
ADDED
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{"action": {"mean": [0.01820324920117855, 0.05858374014496803, -0.05592384561896324, 0.004626928828656673, 0.00289608770981431, -0.007673131301999092, 0.5457824468612671], "std": [0.2825464606285095, 0.35904666781425476, 0.3673802614212036, 0.03770702704787254, 0.05429719388484955, 0.08725254982709885, 0.49815231561660767], "max": [0.9375, 0.9375, 0.9375, 0.30000001192092896, 0.29357144236564636, 0.375, 1.0], "min": [-0.9375, -0.9375, -0.9375, -0.23642857372760773, -0.3053571283817291, -0.3675000071525574, 0.0], "q01": [-0.6348214149475098, -0.7741071581840515, -0.7633928656578064, -0.09749999642372131, -0.14819999992847435, -0.2742857038974762, 0.0], "q99": [0.7714285850524902, 0.8464285731315613, 0.9375, 0.13928571343421936, 0.15964286029338837, 0.3246428668498993, 1.0]}, "proprio": {"mean": [-0.04190658777952194, 0.03539430722594261, 0.8257141709327698, 2.908308267593384, -0.5562185049057007, -0.16649018228054047, 0.028316624462604523, -0.028561657294631004], "std": [0.10743364691734314, 0.14424669742584229, 0.2572328448295593, 0.3441362977027893, 1.234421730041504, 0.3579835891723633, 0.013308707624673843, 0.013174631632864475], "max": [0.21031762659549713, 0.39128610491752625, 1.3332009315490723, 3.6714255809783936, 3.560650587081909, 1.386339545249939, 0.04160946607589722, 0.0013633022317662835], "min": [-0.4828203022480011, -0.3255046010017395, 0.445506751537323, 1.1321442127227783, -3.641430377960205, -1.842738389968872, -0.0010040868073701859, -0.04111652821302414], "q01": [-0.3899900782108307, -0.2838300323486328, 0.44795057058334353, 1.8810229921340942, -2.886677579879761, -1.1599004411697387, 0.002066459748893976, -0.04001387819647789], "q99": [0.1530261474847791, 0.32915401458740223, 1.2546923208236693, 3.303542451858519, 2.7496529006957933, 0.6893712210655194, 0.040048558115959164, -0.0017598449345678235]}, "num_transitions": 101469, "num_trajectories": 379}
|
libero_rlds/libero_10_no_noops/1.0.0/features.json
ADDED
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libero_rlds/libero_goal_no_noops/1.0.0/dataset_info.json
ADDED
|
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| 1 |
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{
|
| 2 |
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"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
+
"description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
|
| 4 |
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"fileFormat": "tfrecord",
|
| 5 |
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"moduleName": "LIBERO_Goal.LIBERO_Goal_dataset_builder",
|
| 6 |
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"name": "libero_goal",
|
| 7 |
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"releaseNotes": {
|
| 8 |
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"1.0.0": "Initial release."
|
| 9 |
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},
|
| 10 |
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"splits": [
|
| 11 |
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{
|
| 12 |
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"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 13 |
+
"name": "train",
|
| 14 |
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"numBytes": "1841891826",
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| 15 |
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"shardLengths": [
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| 17 |
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| 18 |
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"26",
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| 19 |
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"27",
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| 20 |
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| 21 |
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"26",
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| 22 |
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"27",
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| 23 |
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"27",
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| 24 |
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"27",
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| 25 |
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"27",
|
| 26 |
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"26",
|
| 27 |
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"27",
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| 28 |
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"27",
|
| 29 |
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"26",
|
| 30 |
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"27",
|
| 31 |
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"27"
|
| 32 |
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]
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"version": "1.0.0"
|
| 36 |
+
}
|
libero_rlds/libero_goal_no_noops/1.0.0/dataset_statistics_5e55235b473191726089747a1770390b4905be721bcf5690da498b02c64ec9ae.json
ADDED
|
@@ -0,0 +1 @@
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|
libero_rlds/libero_goal_no_noops/1.0.0/features.json
ADDED
|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
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"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
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"steps": {
|
| 6 |
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"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 7 |
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"sequence": {
|
| 8 |
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"feature": {
|
| 9 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 10 |
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"featuresDict": {
|
| 11 |
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"features": {
|
| 12 |
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"action": {
|
| 13 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 14 |
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"tensor": {
|
| 15 |
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"shape": {
|
| 16 |
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"dimensions": [
|
| 17 |
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"7"
|
| 18 |
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]
|
| 19 |
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},
|
| 20 |
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"dtype": "float32",
|
| 21 |
+
"encoding": "none"
|
| 22 |
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},
|
| 23 |
+
"description": "Robot EEF action."
|
| 24 |
+
},
|
| 25 |
+
"is_terminal": {
|
| 26 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 27 |
+
"tensor": {
|
| 28 |
+
"shape": {},
|
| 29 |
+
"dtype": "bool",
|
| 30 |
+
"encoding": "none"
|
| 31 |
+
},
|
| 32 |
+
"description": "True on last step of the episode if it is a terminal step, True for demos."
|
| 33 |
+
},
|
| 34 |
+
"is_last": {
|
| 35 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 36 |
+
"tensor": {
|
| 37 |
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"shape": {},
|
| 38 |
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"dtype": "bool",
|
| 39 |
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"encoding": "none"
|
| 40 |
+
},
|
| 41 |
+
"description": "True on last step of the episode."
|
| 42 |
+
},
|
| 43 |
+
"language_instruction": {
|
| 44 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 45 |
+
"text": {},
|
| 46 |
+
"description": "Language Instruction."
|
| 47 |
+
},
|
| 48 |
+
"observation": {
|
| 49 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 50 |
+
"featuresDict": {
|
| 51 |
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"features": {
|
| 52 |
+
"wrist_image": {
|
| 53 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 54 |
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"image": {
|
| 55 |
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"shape": {
|
| 56 |
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"dimensions": [
|
| 57 |
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"256",
|
| 58 |
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"256",
|
| 59 |
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"3"
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"dtype": "uint8",
|
| 63 |
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"encodingFormat": "jpeg"
|
| 64 |
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},
|
| 65 |
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"description": "Wrist camera RGB observation."
|
| 66 |
+
},
|
| 67 |
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"image": {
|
| 68 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 69 |
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"image": {
|
| 70 |
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"shape": {
|
| 71 |
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"dimensions": [
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| 72 |
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"256",
|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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},
|
| 77 |
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"dtype": "uint8",
|
| 78 |
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"encodingFormat": "jpeg"
|
| 79 |
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},
|
| 80 |
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"description": "Main camera RGB observation."
|
| 81 |
+
},
|
| 82 |
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"state": {
|
| 83 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 84 |
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"tensor": {
|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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]
|
| 89 |
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},
|
| 90 |
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"dtype": "float32",
|
| 91 |
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"encoding": "none"
|
| 92 |
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},
|
| 93 |
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"description": "Robot EEF state (6D pose, 2D gripper)."
|
| 94 |
+
},
|
| 95 |
+
"joint_state": {
|
| 96 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 97 |
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"tensor": {
|
| 98 |
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|
| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"dtype": "float32",
|
| 104 |
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"encoding": "none"
|
| 105 |
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},
|
| 106 |
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"description": "Robot joint angles."
|
| 107 |
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}
|
| 108 |
+
}
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"is_first": {
|
| 112 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 113 |
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"tensor": {
|
| 114 |
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"shape": {},
|
| 115 |
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"dtype": "bool",
|
| 116 |
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"encoding": "none"
|
| 117 |
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},
|
| 118 |
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"description": "True on first step of the episode."
|
| 119 |
+
},
|
| 120 |
+
"discount": {
|
| 121 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 122 |
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"tensor": {
|
| 123 |
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|
| 124 |
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"dtype": "float32",
|
| 125 |
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"encoding": "none"
|
| 126 |
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},
|
| 127 |
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"description": "Discount if provided, default to 1."
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