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{
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
"featuresDict": {
"features": {
"steps": {
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
"sequence": {
"feature": {
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
"featuresDict": {
"features": {
"reward": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "float32",
"encoding": "none"
},
"description": "Reward if provided, 1 on final step for demos."
},
"language_embedding": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {
"dimensions": [
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]
},
"dtype": "float32",
"encoding": "none"
},
"description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
},
"discount": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
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},
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"featuresDict": {
"features": {
"image": {
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
"image": {
"shape": {
"dimensions": [
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"256",
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]
},
"dtype": "uint8",
"encodingFormat": "jpeg"
},
"description": "Main camera RGB observation."
},
"state": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {
"dimensions": [
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]
},
"dtype": "float32",
"encoding": "none"
},
"description": "21-dimensional joint states, consists of robot joint angles, joint velocity and joint torque."
}
}
}
},
"language_instruction": {
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
"text": {},
"description": "Language Instruction."
},
"is_terminal": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {},
"dtype": "bool",
"encoding": "none"
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"action": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {
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},
"dtype": "float32",
"encoding": "none"
},
"description": "8-dimensional action, consisting of end-effector position and orientation, gripper open/close and a episode termination action."
}
}
}
},
"length": "-1"
}
},
"episode_metadata": {
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
"featuresDict": {
"features": {
"file_path": {
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
"text": {},
"description": "Path to the original data file."
}
}
}
}
}
}
} |