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- .gitattributes +1024 -0
- dataset_info.json +1049 -0
- features.json +175 -0
- robo_net-train.tfrecord-00000-of-01024 +3 -0
- robo_net-train.tfrecord-00001-of-01024 +3 -0
- robo_net-train.tfrecord-00002-of-01024 +3 -0
- robo_net-train.tfrecord-00003-of-01024 +3 -0
- robo_net-train.tfrecord-00004-of-01024 +3 -0
- robo_net-train.tfrecord-00005-of-01024 +3 -0
- robo_net-train.tfrecord-00006-of-01024 +3 -0
- robo_net-train.tfrecord-00007-of-01024 +3 -0
- robo_net-train.tfrecord-00008-of-01024 +3 -0
- robo_net-train.tfrecord-00009-of-01024 +3 -0
- robo_net-train.tfrecord-00010-of-01024 +3 -0
- robo_net-train.tfrecord-00011-of-01024 +3 -0
- robo_net-train.tfrecord-00012-of-01024 +3 -0
- robo_net-train.tfrecord-00013-of-01024 +3 -0
- robo_net-train.tfrecord-00014-of-01024 +3 -0
- robo_net-train.tfrecord-00015-of-01024 +3 -0
- robo_net-train.tfrecord-00016-of-01024 +3 -0
- robo_net-train.tfrecord-00017-of-01024 +3 -0
- robo_net-train.tfrecord-00018-of-01024 +3 -0
- robo_net-train.tfrecord-00019-of-01024 +3 -0
- robo_net-train.tfrecord-00020-of-01024 +3 -0
- robo_net-train.tfrecord-00021-of-01024 +3 -0
- robo_net-train.tfrecord-00022-of-01024 +3 -0
- robo_net-train.tfrecord-00023-of-01024 +3 -0
- robo_net-train.tfrecord-00024-of-01024 +3 -0
- robo_net-train.tfrecord-00025-of-01024 +3 -0
- robo_net-train.tfrecord-00026-of-01024 +3 -0
- robo_net-train.tfrecord-00027-of-01024 +3 -0
- robo_net-train.tfrecord-00028-of-01024 +3 -0
- robo_net-train.tfrecord-00029-of-01024 +3 -0
- robo_net-train.tfrecord-00030-of-01024 +3 -0
- robo_net-train.tfrecord-00031-of-01024 +3 -0
- robo_net-train.tfrecord-00032-of-01024 +3 -0
- robo_net-train.tfrecord-00033-of-01024 +3 -0
- robo_net-train.tfrecord-00034-of-01024 +3 -0
- robo_net-train.tfrecord-00035-of-01024 +3 -0
- robo_net-train.tfrecord-00036-of-01024 +3 -0
- robo_net-train.tfrecord-00037-of-01024 +3 -0
- robo_net-train.tfrecord-00038-of-01024 +3 -0
- robo_net-train.tfrecord-00039-of-01024 +3 -0
- robo_net-train.tfrecord-00040-of-01024 +3 -0
- robo_net-train.tfrecord-00041-of-01024 +3 -0
- robo_net-train.tfrecord-00042-of-01024 +3 -0
- robo_net-train.tfrecord-00043-of-01024 +3 -0
- robo_net-train.tfrecord-00044-of-01024 +3 -0
- robo_net-train.tfrecord-00045-of-01024 +3 -0
- robo_net-train.tfrecord-00046-of-01024 +3 -0
.gitattributes
CHANGED
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*.jpg filter=lfs diff=lfs merge=lfs -text
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robo_net-train.tfrecord-00944-of-01024 filter=lfs diff=lfs merge=lfs -text
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robo_net-train.tfrecord-00986-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1044 |
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robo_net-train.tfrecord-00991-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1048 |
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| 1049 |
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| 1050 |
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robo_net-train.tfrecord-00994-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1051 |
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robo_net-train.tfrecord-00995-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1052 |
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robo_net-train.tfrecord-00996-of-01024 filter=lfs diff=lfs merge=lfs -text
|
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robo_net-train.tfrecord-00997-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1054 |
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robo_net-train.tfrecord-00998-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1055 |
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robo_net-train.tfrecord-00999-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1056 |
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|
| 1057 |
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robo_net-train.tfrecord-01001-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1058 |
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robo_net-train.tfrecord-01002-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1059 |
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robo_net-train.tfrecord-01003-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1060 |
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robo_net-train.tfrecord-01004-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1061 |
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robo_net-train.tfrecord-01005-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1062 |
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robo_net-train.tfrecord-01006-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1063 |
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robo_net-train.tfrecord-01007-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1064 |
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robo_net-train.tfrecord-01008-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1065 |
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robo_net-train.tfrecord-01009-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1066 |
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robo_net-train.tfrecord-01010-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1067 |
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robo_net-train.tfrecord-01011-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1068 |
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robo_net-train.tfrecord-01012-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1069 |
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robo_net-train.tfrecord-01013-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1070 |
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robo_net-train.tfrecord-01014-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1071 |
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robo_net-train.tfrecord-01015-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1072 |
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robo_net-train.tfrecord-01016-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1073 |
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robo_net-train.tfrecord-01017-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1074 |
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robo_net-train.tfrecord-01018-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1075 |
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robo_net-train.tfrecord-01019-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1076 |
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robo_net-train.tfrecord-01020-of-01024 filter=lfs diff=lfs merge=lfs -text
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| 1077 |
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robo_net-train.tfrecord-01021-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1078 |
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robo_net-train.tfrecord-01022-of-01024 filter=lfs diff=lfs merge=lfs -text
|
| 1079 |
+
robo_net-train.tfrecord-01023-of-01024 filter=lfs diff=lfs merge=lfs -text
|
dataset_info.json
ADDED
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| 1 |
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{
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"citation": "@inproceedings{dasari2019robonet,\n title={RoboNet: Large-Scale Multi-Robot Learning},\n author={Sudeep Dasari and Frederik Ebert and Stephen Tian and Suraj Nair and Bernadette Bucher and Karl Schmeckpeper and Siddharth Singh and Sergey Levine and Chelsea Finn},\n year={2019},\n eprint={1910.11215},\n archivePrefix={arXiv},\n primaryClass={cs.RO},\n booktitle={CoRL 2019: Volume 100 Proceedings of Machine Learning Research}\n}",
|
| 3 |
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"description": "Diverse robots performing pseudo-random bin interactions",
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| 4 |
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"fileFormat": "tfrecord",
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| 5 |
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"location": {
|
| 6 |
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"urls": [
|
| 7 |
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"https://www.robonet.wiki/"
|
| 8 |
+
]
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| 9 |
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},
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| 10 |
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"moduleName": "tensorflow_datasets.robotics.rtx.rtx",
|
| 11 |
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"name": "robo_net",
|
| 12 |
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"releaseNotes": {
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| 13 |
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"0.1.0": "Initial release."
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},
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| 976 |
+
"74",
|
| 977 |
+
"73",
|
| 978 |
+
"70",
|
| 979 |
+
"101",
|
| 980 |
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"82",
|
| 981 |
+
"87",
|
| 982 |
+
"83",
|
| 983 |
+
"82",
|
| 984 |
+
"86",
|
| 985 |
+
"78",
|
| 986 |
+
"72",
|
| 987 |
+
"83",
|
| 988 |
+
"84",
|
| 989 |
+
"79",
|
| 990 |
+
"96",
|
| 991 |
+
"70",
|
| 992 |
+
"91",
|
| 993 |
+
"89",
|
| 994 |
+
"93",
|
| 995 |
+
"77",
|
| 996 |
+
"84",
|
| 997 |
+
"82",
|
| 998 |
+
"55",
|
| 999 |
+
"95",
|
| 1000 |
+
"84",
|
| 1001 |
+
"82",
|
| 1002 |
+
"87",
|
| 1003 |
+
"77",
|
| 1004 |
+
"82",
|
| 1005 |
+
"85",
|
| 1006 |
+
"68",
|
| 1007 |
+
"96",
|
| 1008 |
+
"86",
|
| 1009 |
+
"77",
|
| 1010 |
+
"70",
|
| 1011 |
+
"95",
|
| 1012 |
+
"71",
|
| 1013 |
+
"80",
|
| 1014 |
+
"78",
|
| 1015 |
+
"72",
|
| 1016 |
+
"90",
|
| 1017 |
+
"74",
|
| 1018 |
+
"84",
|
| 1019 |
+
"58",
|
| 1020 |
+
"92",
|
| 1021 |
+
"73",
|
| 1022 |
+
"84",
|
| 1023 |
+
"67",
|
| 1024 |
+
"78",
|
| 1025 |
+
"70",
|
| 1026 |
+
"97",
|
| 1027 |
+
"79",
|
| 1028 |
+
"87",
|
| 1029 |
+
"79",
|
| 1030 |
+
"84",
|
| 1031 |
+
"68",
|
| 1032 |
+
"82",
|
| 1033 |
+
"84",
|
| 1034 |
+
"61",
|
| 1035 |
+
"83",
|
| 1036 |
+
"97",
|
| 1037 |
+
"87",
|
| 1038 |
+
"95",
|
| 1039 |
+
"75",
|
| 1040 |
+
"97",
|
| 1041 |
+
"91",
|
| 1042 |
+
"83",
|
| 1043 |
+
"78",
|
| 1044 |
+
"84"
|
| 1045 |
+
]
|
| 1046 |
+
}
|
| 1047 |
+
],
|
| 1048 |
+
"version": "0.1.0"
|
| 1049 |
+
}
|
features.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
"observation": {
|
| 13 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 14 |
+
"featuresDict": {
|
| 15 |
+
"features": {
|
| 16 |
+
"image": {
|
| 17 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 18 |
+
"image": {
|
| 19 |
+
"shape": {
|
| 20 |
+
"dimensions": [
|
| 21 |
+
"240",
|
| 22 |
+
"320",
|
| 23 |
+
"3"
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"dtype": "uint8",
|
| 27 |
+
"encodingFormat": "jpeg"
|
| 28 |
+
},
|
| 29 |
+
"description": "Main camera RGB observation."
|
| 30 |
+
},
|
| 31 |
+
"image1": {
|
| 32 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 33 |
+
"image": {
|
| 34 |
+
"shape": {
|
| 35 |
+
"dimensions": [
|
| 36 |
+
"240",
|
| 37 |
+
"320",
|
| 38 |
+
"3"
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"dtype": "uint8",
|
| 42 |
+
"encodingFormat": "jpeg"
|
| 43 |
+
},
|
| 44 |
+
"description": "Main camera RGB observation."
|
| 45 |
+
},
|
| 46 |
+
"image2": {
|
| 47 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 48 |
+
"image": {
|
| 49 |
+
"shape": {
|
| 50 |
+
"dimensions": [
|
| 51 |
+
"240",
|
| 52 |
+
"320",
|
| 53 |
+
"3"
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"dtype": "uint8",
|
| 57 |
+
"encodingFormat": "jpeg"
|
| 58 |
+
},
|
| 59 |
+
"description": "Main camera RGB observation."
|
| 60 |
+
},
|
| 61 |
+
"state": {
|
| 62 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 63 |
+
"tensor": {
|
| 64 |
+
"shape": {
|
| 65 |
+
"dimensions": [
|
| 66 |
+
"5"
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"encoding": "none"
|
| 71 |
+
},
|
| 72 |
+
"description": "Robot state, consists of eef position, wristorientation, and gripper state[e_x, e_y, e_z, theta, gripper]."
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"reward": {
|
| 78 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 79 |
+
"tensor": {
|
| 80 |
+
"shape": {},
|
| 81 |
+
"dtype": "float32",
|
| 82 |
+
"encoding": "none"
|
| 83 |
+
},
|
| 84 |
+
"description": "Reward if provided, 0 for all random data."
|
| 85 |
+
},
|
| 86 |
+
"is_first": {
|
| 87 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 88 |
+
"tensor": {
|
| 89 |
+
"shape": {},
|
| 90 |
+
"dtype": "bool",
|
| 91 |
+
"encoding": "none"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"is_terminal": {
|
| 95 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 96 |
+
"tensor": {
|
| 97 |
+
"shape": {},
|
| 98 |
+
"dtype": "bool",
|
| 99 |
+
"encoding": "none"
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action": {
|
| 103 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 104 |
+
"tensor": {
|
| 105 |
+
"shape": {
|
| 106 |
+
"dimensions": [
|
| 107 |
+
"5"
|
| 108 |
+
]
|
| 109 |
+
},
|
| 110 |
+
"dtype": "float32",
|
| 111 |
+
"encoding": "none"
|
| 112 |
+
},
|
| 113 |
+
"description": "Robot action, consists of [3x eef delta, 1x wrist rotation, 1x gripper width target]."
|
| 114 |
+
},
|
| 115 |
+
"discount": {
|
| 116 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 117 |
+
"tensor": {
|
| 118 |
+
"shape": {},
|
| 119 |
+
"dtype": "float32",
|
| 120 |
+
"encoding": "none"
|
| 121 |
+
},
|
| 122 |
+
"description": "Discount if provided, default to 1."
|
| 123 |
+
},
|
| 124 |
+
"language_embedding": {
|
| 125 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 126 |
+
"tensor": {
|
| 127 |
+
"shape": {
|
| 128 |
+
"dimensions": [
|
| 129 |
+
"512"
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"encoding": "none"
|
| 134 |
+
},
|
| 135 |
+
"description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
|
| 136 |
+
},
|
| 137 |
+
"is_last": {
|
| 138 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 139 |
+
"tensor": {
|
| 140 |
+
"shape": {},
|
| 141 |
+
"dtype": "bool",
|
| 142 |
+
"encoding": "none"
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"language_instruction": {
|
| 146 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 147 |
+
"text": {},
|
| 148 |
+
"description": "Language Instruction."
|
| 149 |
+
}
|
| 150 |
+
}
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"length": "-1"
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"episode_metadata": {
|
| 157 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 158 |
+
"featuresDict": {
|
| 159 |
+
"features": {
|
| 160 |
+
"file_path": {
|
| 161 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 162 |
+
"text": {},
|
| 163 |
+
"description": "Path to the original data file."
|
| 164 |
+
},
|
| 165 |
+
"robot": {
|
| 166 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 167 |
+
"text": {},
|
| 168 |
+
"description": "Robot model used during data collection."
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
}
|
robo_net-train.tfrecord-00000-of-01024
ADDED
|
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ADDED
|
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ADDED
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ADDED
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