File size: 9,195 Bytes
ccc9476 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 | {
"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": {
"action": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {
"dimensions": [
"7"
]
},
"dtype": "float32",
"encoding": "none"
},
"description": "Robot EEF action."
},
"is_terminal": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "bool",
"encoding": "none"
},
"description": "True on last step of the episode if it is a terminal step, True for demos."
},
"is_last": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "bool",
"encoding": "none"
},
"description": "True on last step of the episode."
},
"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": [
"8"
]
},
"dtype": "float32",
"encoding": "none"
},
"description": "Robot EEF state (6D pose, 2D gripper)."
},
"joint_state": {
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"shape": {
"dimensions": [
"7"
]
},
"dtype": "float32",
"encoding": "none"
},
"description": "Robot joint angles."
}
}
}
},
"is_first": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "bool",
"encoding": "none"
},
"description": "True on first step of the episode."
},
"discount": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "float32",
"encoding": "none"
},
"description": "Discount if provided, default to 1."
},
"reward": {
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"shape": {},
"dtype": "float32",
"encoding": "none"
},
"description": "Reward if provided, 1 on final step for demos."
}
}
}
},
"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."
}
}
}
}
}
}
} |