Upload folder using huggingface_hub
Browse files- .gitattributes +4 -0
- cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00000-of-00004 +3 -0
- cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00001-of-00004 +3 -0
- cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00002-of-00004 +3 -0
- cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00003-of-00004 +3 -0
- cmu_stretch/0.1.0/dataset_info.json +29 -0
- cmu_stretch/0.1.0/features.json +140 -0
.gitattributes
CHANGED
@@ -5686,3 +5686,7 @@ berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-000
|
|
5686 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00029-of-00032 filter=lfs diff=lfs merge=lfs -text
|
5687 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00030-of-00032 filter=lfs diff=lfs merge=lfs -text
|
5688 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00031-of-00032 filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
5686 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00029-of-00032 filter=lfs diff=lfs merge=lfs -text
|
5687 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00030-of-00032 filter=lfs diff=lfs merge=lfs -text
|
5688 |
berkeley_fanuc_manipulation/0.1.0/berkeley_fanuc_manipulation-train.tfrecord-00031-of-00032 filter=lfs diff=lfs merge=lfs -text
|
5689 |
+
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00000-of-00004 filter=lfs diff=lfs merge=lfs -text
|
5690 |
+
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00001-of-00004 filter=lfs diff=lfs merge=lfs -text
|
5691 |
+
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00002-of-00004 filter=lfs diff=lfs merge=lfs -text
|
5692 |
+
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00003-of-00004 filter=lfs diff=lfs merge=lfs -text
|
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00000-of-00004
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:3d7acbfeb528ff381ae0bbee5c2cc3bfe2db9a3bc625fb93cfac14f55e004132
|
3 |
+
size 137400519
|
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00001-of-00004
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:03bab0957b5903d362bff2ecb9dc9ccbffc25edd7c8a49c50f02eb3aaece99b2
|
3 |
+
size 132212897
|
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00002-of-00004
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:9a0fea8bce47f530b2d0359f1966d2b9266f622e47947f3e387d38e886abe243
|
3 |
+
size 130072532
|
cmu_stretch/0.1.0/cmu_stretch-train.tfrecord-00003-of-00004
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:be839e8bfe6611a9eddb4de2c0984b400dd6661d9865f8446df8b48efe09ecd5
|
3 |
+
size 134965873
|
cmu_stretch/0.1.0/dataset_info.json
ADDED
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"citation": "@inproceedings{bahl2023affordances,\n title={Affordances from Human Videos as a Versatile Representation for Robotics},\n author={Bahl, Shikhar and Mendonca, Russell and Chen, Lili and Jain, Unnat and Pathak, Deepak},\n booktitle={CVPR},\n year={2023}\n}\n@article{mendonca2023structured,\n title={Structured World Models from Human Videos},\n author={Mendonca, Russell and Bahl, Shikhar and Pathak, Deepak},\n journal={CoRL},\n year={2023}\n}",
|
3 |
+
"description": "Hello stretch robot kitchen interactions",
|
4 |
+
"fileFormat": "tfrecord",
|
5 |
+
"location": {
|
6 |
+
"urls": [
|
7 |
+
"https://robo-affordances.github.io/"
|
8 |
+
]
|
9 |
+
},
|
10 |
+
"moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
|
11 |
+
"name": "cmu_stretch",
|
12 |
+
"releaseNotes": {
|
13 |
+
"0.1.0": "Initial release."
|
14 |
+
},
|
15 |
+
"splits": [
|
16 |
+
{
|
17 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
18 |
+
"name": "train",
|
19 |
+
"numBytes": "534649661",
|
20 |
+
"shardLengths": [
|
21 |
+
"34",
|
22 |
+
"34",
|
23 |
+
"33",
|
24 |
+
"34"
|
25 |
+
]
|
26 |
+
}
|
27 |
+
],
|
28 |
+
"version": "0.1.0"
|
29 |
+
}
|
cmu_stretch/0.1.0/features.json
ADDED
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
3 |
+
"featuresDict": {
|
4 |
+
"features": {
|
5 |
+
"steps": {
|
6 |
+
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
7 |
+
"sequence": {
|
8 |
+
"feature": {
|
9 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
10 |
+
"featuresDict": {
|
11 |
+
"features": {
|
12 |
+
"reward": {
|
13 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
14 |
+
"tensor": {
|
15 |
+
"shape": {},
|
16 |
+
"dtype": "float32",
|
17 |
+
"encoding": "none"
|
18 |
+
},
|
19 |
+
"description": "Reward if provided, 1 on final step for demos."
|
20 |
+
},
|
21 |
+
"language_embedding": {
|
22 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
23 |
+
"tensor": {
|
24 |
+
"shape": {
|
25 |
+
"dimensions": [
|
26 |
+
"512"
|
27 |
+
]
|
28 |
+
},
|
29 |
+
"dtype": "float32",
|
30 |
+
"encoding": "none"
|
31 |
+
},
|
32 |
+
"description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
|
33 |
+
},
|
34 |
+
"is_terminal": {
|
35 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
36 |
+
"tensor": {
|
37 |
+
"shape": {},
|
38 |
+
"dtype": "bool",
|
39 |
+
"encoding": "none"
|
40 |
+
}
|
41 |
+
},
|
42 |
+
"is_last": {
|
43 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
44 |
+
"tensor": {
|
45 |
+
"shape": {},
|
46 |
+
"dtype": "bool",
|
47 |
+
"encoding": "none"
|
48 |
+
}
|
49 |
+
},
|
50 |
+
"language_instruction": {
|
51 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
52 |
+
"text": {},
|
53 |
+
"description": "Language Instruction."
|
54 |
+
},
|
55 |
+
"observation": {
|
56 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
57 |
+
"featuresDict": {
|
58 |
+
"features": {
|
59 |
+
"image": {
|
60 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
61 |
+
"image": {
|
62 |
+
"shape": {
|
63 |
+
"dimensions": [
|
64 |
+
"256",
|
65 |
+
"256",
|
66 |
+
"3"
|
67 |
+
]
|
68 |
+
},
|
69 |
+
"dtype": "uint8",
|
70 |
+
"encodingFormat": "jpeg"
|
71 |
+
},
|
72 |
+
"description": "Main camera RGB observation."
|
73 |
+
},
|
74 |
+
"state": {
|
75 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
76 |
+
"tensor": {
|
77 |
+
"shape": {
|
78 |
+
"dimensions": [
|
79 |
+
"4"
|
80 |
+
]
|
81 |
+
},
|
82 |
+
"dtype": "float32",
|
83 |
+
"encoding": "none"
|
84 |
+
},
|
85 |
+
"description": "Robot state, consists of [3x robot joint angles/ee pos, 1x gripper position]."
|
86 |
+
}
|
87 |
+
}
|
88 |
+
}
|
89 |
+
},
|
90 |
+
"is_first": {
|
91 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
92 |
+
"tensor": {
|
93 |
+
"shape": {},
|
94 |
+
"dtype": "bool",
|
95 |
+
"encoding": "none"
|
96 |
+
}
|
97 |
+
},
|
98 |
+
"discount": {
|
99 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
100 |
+
"tensor": {
|
101 |
+
"shape": {},
|
102 |
+
"dtype": "float32",
|
103 |
+
"encoding": "none"
|
104 |
+
},
|
105 |
+
"description": "Discount if provided, default to 1."
|
106 |
+
},
|
107 |
+
"action": {
|
108 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
109 |
+
"tensor": {
|
110 |
+
"shape": {
|
111 |
+
"dimensions": [
|
112 |
+
"8"
|
113 |
+
]
|
114 |
+
},
|
115 |
+
"dtype": "float32",
|
116 |
+
"encoding": "none"
|
117 |
+
},
|
118 |
+
"description": "Robot action, consists of [3x ee pos, 3x ee rot 1x gripper binary action, 1x terminate episode]."
|
119 |
+
}
|
120 |
+
}
|
121 |
+
}
|
122 |
+
},
|
123 |
+
"length": "-1"
|
124 |
+
}
|
125 |
+
},
|
126 |
+
"episode_metadata": {
|
127 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
128 |
+
"featuresDict": {
|
129 |
+
"features": {
|
130 |
+
"file_path": {
|
131 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
132 |
+
"text": {},
|
133 |
+
"description": "Path to the original data file."
|
134 |
+
}
|
135 |
+
}
|
136 |
+
}
|
137 |
+
}
|
138 |
+
}
|
139 |
+
}
|
140 |
+
}
|