| { | |
| "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": [ | |
| "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" | |
| } | |
| }, | |
| "is_first": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "observation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "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": [ | |
| "21" | |
| ] | |
| }, | |
| "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" | |
| } | |
| }, | |
| "action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "8" | |
| ] | |
| }, | |
| "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." | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } |