| { | |
| "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": "+1 reward for each two-part assembly." | |
| }, | |
| "language_embedding": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "512" | |
| ] | |
| }, | |
| "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": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Discount if provided, default to 1." | |
| }, | |
| "is_last": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "language_instruction": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Language Instruction." | |
| }, | |
| "observation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "wrist_image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "256", | |
| "256", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg" | |
| }, | |
| "description": "Wrist camera RGB observation." | |
| }, | |
| "image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "256", | |
| "256", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg" | |
| }, | |
| "description": "Main camera RGB observation." | |
| }, | |
| "state": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "35" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot state, consists of [3x eef position, 4x eef quaternion, 3x eef linear velocity, 3x eef angular velocity, 7x joint position, 7x joint velocity, 7x joint torque, 1x gripper width]." | |
| } | |
| } | |
| } | |
| }, | |
| "is_first": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "is_terminal": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "skill_completion": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "+1 skill completion reward; otherwise, 0." | |
| }, | |
| "action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "8" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot action, consists of [3x eef pos velocities, 4x eef quat velocities, 1x gripper velocity]." | |
| } | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "episode_metadata": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "furniture": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Furniture model name." | |
| }, | |
| "file_path": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Path to the original data file." | |
| }, | |
| "initial_randomness": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Randomness in furniture initial configuration.[low, med, high]" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } |