diff --git a/.gitattributes b/.gitattributes index d8f5d0a22110913c08b4c81e3d908b04ad987929..4e94c41aca7b4630840d1292b44a36a671b7684e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -217,3 +217,83 @@ aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00028-of-00032 filter=l aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00029-of-00032 filter=lfs diff=lfs merge=lfs -text aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00030-of-00032 filter=lfs diff=lfs merge=lfs -text aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00031-of-00032 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text +aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00000-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..684c3c06ef59c68053f161b200ad6db9ae2eab58 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f68b45479581e8d1e87dc384f828b598195fd885edafd0bc57351268e160d34 +size 79170006 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00001-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..4a8123ca86ae0acb8026096406c566c3f3034c75 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15a9c3c5465ec23ce813adf11baa67ebf484168662f9d3eb5acb0f57b287c335 +size 82372366 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00002-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00002-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..263717d880444da7a9f91f38b7ebda208bc4c49d --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00002-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97e48cf266a40746ea11e26a2e98ba629305de74341545e2b9f52e337a96f1e +size 57421878 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00003-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00003-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..065b17a03b853d81e87c7dbfea2cf337342c224f --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00003-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78403a613bbae3c47582a30d2ba81ffec4b48759927a75c8d933952f637b8631 +size 84299839 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00004-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00004-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..36853367a391779104302302028de80e11168c53 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00004-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e070737cece870cdf3fa436aa7bb901a9446c9e2bfa96583979d207482645478 +size 78738583 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00005-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00005-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..05662a3ab0d7e261f646006af03be3e748e6942d --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00005-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:509f194c24d444beac775391bbbe769f66ad0ff39c584299b89efd262ddc9ed3 +size 79081324 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00006-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00006-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..13490c596d618a76a32825ddd34c6193da70d0db --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00006-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfff2cb308da3f3ccde23ee0ee69319405ffb590169da44a115bba73d5bd3669 +size 95897563 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00007-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00007-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..ff1c9bb29bcca3d80ddee24b8f46e788db474b28 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00007-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b22dcfb4aa2ea14a6b0f991ef8d7973c96c3dd6b091261f7122f13d9e942907a +size 87963284 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00008-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00008-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..14f1ddebfe712470683a0acd31924b58858f59f7 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00008-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bf44cdf741d299c521df5c0363f1c1b5efb8d9ced803bda0405f01fbcc3e29d +size 84131373 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00009-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00009-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..54a15101ed3fc63fcf1957c6e19e9c3dbcf8c164 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00009-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5fbd56d9d7471a3126d4d8faef636b15272a7f91a39887f8d774ea5cce76cae +size 78909175 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00010-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00010-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..680a5fbd868e3b04a6fc601f0f20a397dc98293c --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00010-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e50f05118c7fb44fd8fe11bee8cf78fb065782093992cc04b3500564c978760 +size 64189591 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00011-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00011-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..c4b3f30e756403534cf545ff3c99583ae22a6c40 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00011-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1809863f413f5f21330c3ff653625ea772691948280dab903fd9b02e8500c59 +size 91955894 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00012-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00012-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d1752cd5f3c9e0481a24c9f78a904b513de72426 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00012-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18da304db27cc1eefae284309971a384d1119784ad914ef40c2b9d792e910fac +size 82848789 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00013-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00013-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..5eb41a6b0e0358959511eca0eb40194cc226d4f9 --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00013-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d95a04852ae0e52ab9354901cda6776348fbd3054c7ef50050ad475158750ade +size 57669149 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00014-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00014-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..8f3bfaed1363ae59de2d780a79b0c844a603026d --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00014-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96981a32599f17b91574931ebf1b611c09aa60490fe0e2804e608fbbfd924373 +size 86640437 diff --git a/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00015-of-00016 b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00015-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..33fc2da6fcf99c366b05c02dc28c726e6d14e34a --- /dev/null +++ b/aloha_box_into_pot_easy/1.0.0/aloha_box_into_pot_easy-train.tfrecord-00015-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7402ebe6b2dd6cc861f17794957390f6054e8aae72ac0dcdd2377667a2b1a9d +size 94910331 diff --git a/aloha_box_into_pot_easy/1.0.0/dataset_info.json b/aloha_box_into_pot_easy/1.0.0/dataset_info.json index 9787716ca8cc837e37b0aee86c516a586e17371d..f43d1d5b0c9e5cf893cc3ef5a981e6793a86fa8d 100755 --- a/aloha_box_into_pot_easy/1.0.0/dataset_info.json +++ b/aloha_box_into_pot_easy/1.0.0/dataset_info.json @@ -1,49 +1,32 @@ { - "description": "**Tabletop-SIM RLDS Dataset**", "fileFormat": "tfrecord", - "moduleName": "aloha_box_into_pot_easy.aloha_box_into_pot_easy", + "moduleName": "abc", "name": "aloha_box_into_pot_easy", "releaseNotes": { - "1.0.0": "Initial release." + "1.0.0": "Initial release for the task: aloha_box_into_pot_easy." }, "splits": [ { "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", "name": "train", - "numBytes": "3405341797", + "numBytes": "1286198622", "shardLengths": [ - "2", - "2", - "2", - "2", - "1", - "2", - "2", - "2", - "2", - "2", - "2", - "1", - "2", - "2", - "2", - "2", - "2", - "2", - "2", - "2", - "1", - "2", - "2", - "2", - "2", - "2", - "2", - "1", - "2", - "2", - "2", - "2" + "4", + "4", + "3", + "4", + "4", + "3", + "4", + "4", + "4", + "4", + "3", + "4", + "4", + "3", + "4", + "4" ] } ], diff --git a/aloha_box_into_pot_easy/1.0.0/features.json b/aloha_box_into_pot_easy/1.0.0/features.json index 780f2788b333a1cda4da5e2b1f1f280b67dcc772..5e4c952b0746be7dcdd22e3a3a3a0be25bbc01a3 100755 --- a/aloha_box_into_pot_easy/1.0.0/features.json +++ b/aloha_box_into_pot_easy/1.0.0/features.json @@ -1,135 +1,192 @@ { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "episode_metadata": { - "featuresDict": { - "features": { - "file_path": { - "description": "Path to the original data file.", - "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", - "text": {} - } - } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" - }, "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.features_dict.FeaturesDict", "featuresDict": { "features": { - "ee_6d_pos": { - "description": "2x robot ee pos", + "eef_6d_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "20" ] - } + }, + "dtype": "float32", + "encoding": "none" } }, - "ee_quat_pos": { - "description": "2x robot ee pos", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "16" ] - } + }, + "dtype": "float32", + "encoding": "none" + } + }, + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } }, "language_instruction": { - "description": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "agentview_image": { - "description": "Main camera RGB observation.", + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" + } + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "480", "640", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" - }, - "left_wrist_image": { - "description": "Main camera RGB observation.", - "image": { + }, "dtype": "uint8", - "encodingFormat": "png", + "encodingFormat": "jpeg" + } + }, + "eef_6d_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { "shape": { "dimensions": [ - "240", - "320", - "3" + "20" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "float32", + "encoding": "none" + } }, "right_wrist_image": { - "description": "Main camera RGB observation.", + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "240", "320", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + } }, - "state": { - "description": "xyz, 6D, grp", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { + "shape": { + "dimensions": [ + "16" + ] + }, "dtype": "float32", - "encoding": "none", + "encoding": "none" + } + }, + "left_wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { "shape": { "dimensions": [ - "20" + "240", + "320", + "3" ] - } + }, + "dtype": "uint8", + "encodingFormat": "jpeg" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } }, "length": "-1" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } } \ No newline at end of file diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00000-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..6e2bdbb1c7782d7af8f8b5adbcc8649e1a520411 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31097ec47019946dc4d8f046df394b3395e99bb0a696624f8dfb1077d1cf365c +size 66174800 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00001-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..3432819502024bf2f2a123986ba77e86ce21f543 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dafa4ffbfbcfa71954d198a6490deb16bcb1c88ac6d8bd9284d2be63980b00e9 +size 62134698 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00002-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00002-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..4a38e5d9d27101838d3e55db7782f80d7623ac79 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00002-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f0b7771a9f41942ef6faa71479466fa1a63e928f4ae08352d4c9995b5979de8 +size 72954624 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00003-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00003-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d271fe7829228545be6256101e6e48f752c5a32a --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00003-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:071a297ce2963e8a4033c8077022ecc19a4b4c1633c88614b185b8ffd5b71e17 +size 65033827 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00004-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00004-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..5b82079e5af22f43a8534b3348938a5fae1ffa03 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00004-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cb9d9e6857e3cbe0eb84b7cb729facc977f3e62b6bad6c1c65a233450b1ecaa +size 91425817 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00005-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00005-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..b28344d0ae24946b8cb15ec9b8656c605b9ef40d --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00005-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d70cb03243743aee275fcefb22d80b36ccb0df91e646f9feb795ef0a5086ca29 +size 67198485 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00006-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00006-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..f78b965ac3f832c00bf049532032a8a5b59789da --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00006-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3488040eaba52a6e378a5f332c82c041f85cac6e5594971c0f27bff0d5ab6f6e +size 71186997 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00007-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00007-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..580206a8ee0e6acfd484def01a4bdbcf18e6baee --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00007-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:189b9e05eb0494ff23b4ef1ec6616e44a2c98794bb96d1b5fc2e0cf20c58554d +size 73779296 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00008-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00008-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..81b22277f7841188fa8490426600a41b9348c198 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00008-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75eed290aae1aa9226bf959a8057d2ccb580d3a682efffd15518f1c4d2d1588c +size 66174271 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00009-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00009-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..9ac2d255c8987d902e114ad03059101558e77c86 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00009-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de6cd895aa11f7152543212a6fbea0147208fe236b6e8c3efac33a5849054e94 +size 59960345 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00010-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00010-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..6ab19688c2af31544a19332e7dfb8ad62fcedcc7 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00010-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f4aa30acca2b8dd165752fad98b27b989ef3e3b0c736534d3038e47e6fb076 +size 80309139 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00011-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00011-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..8872a2e550c8eef73f29ef3fa28c1e234c518dca --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00011-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df29cdc44bfbe6222e9a87e7ba546bf4db863fad150ed182b3e830dfa7a28a83 +size 94505857 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00012-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00012-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..9e137cc2e2a7ca97be7cde1e10fe328cf183cb57 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00012-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:018c2c7c7ada1a89a4ee32b067afe83c0849828d49536e841e6d4686dc97741a +size 62887922 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00013-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00013-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..b7c27e5b95caff7a33a59fbcbe1c162f95017c46 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00013-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fa6cf495e32b085765927124c3cfb242c9ba4175bc7d7fa7f96e2d8bd4fcbd7 +size 65093692 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00014-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00014-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..88d57feb8298bbe0af016cb941f6ec9efe8ac8a5 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00014-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3a649518ea87353418983cd9ec24b955b690b60d015125ccdb03b2e72a21254 +size 70453712 diff --git a/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00015-of-00016 b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00015-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..64a35828146253d06e395b286d33afea9233c949 --- /dev/null +++ b/aloha_dish_drainer/1.0.0/aloha_dish_drainer-train.tfrecord-00015-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4189774803c6e0b1e60c247d57335b2cc2d859ca7eab007d2aee65f3d4c1285 +size 78196804 diff --git a/aloha_dish_drainer/1.0.0/dataset_info.json b/aloha_dish_drainer/1.0.0/dataset_info.json index 8b2a26abbc035b2ba1b29ce2330c84d1636a9108..fc44c0debb191072c5d63a7b8d6260d290cddbed 100755 --- a/aloha_dish_drainer/1.0.0/dataset_info.json +++ b/aloha_dish_drainer/1.0.0/dataset_info.json @@ -1,49 +1,32 @@ { - "description": "**Tabletop-SIM RLDS Dataset**", "fileFormat": "tfrecord", - "moduleName": "aloha_dish_drainer.aloha_dish_drainer", + "moduleName": "abc", "name": "aloha_dish_drainer", "releaseNotes": { - "1.0.0": "Initial release." + "1.0.0": "Initial release for the task: aloha_dish_drainer." }, "splits": [ { "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", "name": "train", - "numBytes": "2951189824", + "numBytes": "1147469486", "shardLengths": [ - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2" + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3" ] } ], diff --git a/aloha_dish_drainer/1.0.0/features.json b/aloha_dish_drainer/1.0.0/features.json index 780f2788b333a1cda4da5e2b1f1f280b67dcc772..5e4c952b0746be7dcdd22e3a3a3a0be25bbc01a3 100755 --- a/aloha_dish_drainer/1.0.0/features.json +++ b/aloha_dish_drainer/1.0.0/features.json @@ -1,135 +1,192 @@ { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "episode_metadata": { - "featuresDict": { - "features": { - "file_path": { - "description": "Path to the original data file.", - "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", - "text": {} - } - } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" - }, "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.features_dict.FeaturesDict", "featuresDict": { "features": { - "ee_6d_pos": { - "description": "2x robot ee pos", + "eef_6d_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "20" ] - } + }, + "dtype": "float32", + "encoding": "none" } }, - "ee_quat_pos": { - "description": "2x robot ee pos", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "16" ] - } + }, + "dtype": "float32", + "encoding": "none" + } + }, + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } }, "language_instruction": { - "description": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "agentview_image": { - "description": "Main camera RGB observation.", + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" + } + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "480", "640", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" - }, - "left_wrist_image": { - "description": "Main camera RGB observation.", - "image": { + }, "dtype": "uint8", - "encodingFormat": "png", + "encodingFormat": "jpeg" + } + }, + "eef_6d_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { "shape": { "dimensions": [ - "240", - "320", - "3" + "20" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "float32", + "encoding": "none" + } }, "right_wrist_image": { - "description": "Main camera RGB observation.", + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "240", "320", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + } }, - "state": { - "description": "xyz, 6D, grp", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { + "shape": { + "dimensions": [ + "16" + ] + }, "dtype": "float32", - "encoding": "none", + "encoding": "none" + } + }, + "left_wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { "shape": { "dimensions": [ - "20" + "240", + "320", + "3" ] - } + }, + "dtype": "uint8", + "encodingFormat": "jpeg" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } }, "length": "-1" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } } \ No newline at end of file diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00000-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d26fef51f0f88dbce9be6e693236ada87c22c7d5 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2afe203b83a130572c260a0a3f99c7ec821e5073efa8c63464a048213716490a +size 96636895 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00001-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..f0a98849bb5b35abd9acf0f76a9ad91b9807e7a8 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6b0a56c89be1301bfdba99a104de6872af8dddc6b9a9aef0522b04add9c3236 +size 106697238 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00002-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00002-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..fe89a9d66f7bb0be7412353682a91e05d073f42c --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00002-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a35ab981de3e745129a72417c0046483d079323e17d7224756ca08c794bdb29 +size 121467835 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00003-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00003-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d50a93adcaae73fcea38bf5dcad2f39456d49fd8 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00003-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d0ddcb7c8f515b1dc6efcb75a95a0e0171c4ac8ee041b506f0106f5a22fb460 +size 97714248 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00004-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00004-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..58f4503876baba1dd56ed255189f131fde974aee --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00004-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7496463935939bb56d2ea0dccf623fd71b58217bb645e76a7c1dc73d1f4f870 +size 141903410 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00005-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00005-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..7f8dea70e1b37b9e84434a6adbbb3e3d143b7e81 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00005-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b3f15ed055f3ea275aec559a11fef772e3c9869fe10ff4eea6fe6505e506e3 +size 87810332 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00006-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00006-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..75283ad0e34f1964c054e8327be97dfa2ae22981 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00006-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e27ffa77cd4d319a03f408d8a7c3147f2ce56351f8a4b3be9274a747d70dc261 +size 121142966 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00007-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00007-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..7c218df30deb74e2f8cb07d002c01e446bd4013f --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00007-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce3c35f3e0066e8a5ccdb7deee4fa4fd900868e64f8ac37665bf273526f7165 +size 97207231 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00008-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00008-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..ccc2eb1316f66c31d97a58b104f568b297af7c30 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00008-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09e152e348464892ee3edb5e68ab42849ffa099b98a49508b249a33ff607b0da +size 102222260 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00009-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00009-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..36f94d83585ac1d14d8f74916aa83265938d08d6 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00009-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc72886a065018041b0d3197ca5a1b10e47f86eacda63f8b82b6deac3592bab +size 92879012 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00010-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00010-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..c53801b69209c5946ef4f471b4aa0affd87cd71a --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00010-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:990ec3bf97d717af8979b3b27225c450ba8f782c39f720c038bbd35ea18cdc72 +size 97887506 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00011-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00011-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..5a6aae62ea2cdc14236fee2719802989bf8b1b4d --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00011-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fdf2feb1187ab7af50d9f1571c45092221569e89d19c037d1641bda6169a9ec +size 154711533 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00012-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00012-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..3433891829b81416a0b21f15ad2c094865b694b5 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00012-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ceda522aa770c0cc3103c2b244d26c299be130bfa0b6f389577cb77765d4cbc +size 105694896 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00013-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00013-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..eefa3a8ff9405e394a8a187912647da508182e32 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00013-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a85d1eb607e45f4384005c1422333601d292a274322a2fe39afd25a45ac9a8b +size 104809672 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00014-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00014-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..2e1efcfbe6ebbe6f81da71591ac6fde029068418 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00014-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caea0e68ca775a1888dc60636443ffaecbb11af3133f6ef1d3c24a7dd36a795e +size 96085170 diff --git a/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00015-of-00016 b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00015-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..682d53ac4c2abc1567843ede3cb0a89bdf9593d1 --- /dev/null +++ b/aloha_handover_box/1.0.0/aloha_handover_box-train.tfrecord-00015-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:886bcd9600003e9e47671295ea7626b634deba0fe156f59129d2a20ec5bf4550 +size 107580528 diff --git a/aloha_handover_box/1.0.0/dataset_info.json b/aloha_handover_box/1.0.0/dataset_info.json index 3fb62891e3bf4b93627e3d6c9b7e5a8f99184de1..bca96d22875465c10d1d835a2f348831f99c5c49 100755 --- a/aloha_handover_box/1.0.0/dataset_info.json +++ b/aloha_handover_box/1.0.0/dataset_info.json @@ -1,49 +1,32 @@ { - "description": "**Tabletop-SIM RLDS Dataset**", "fileFormat": "tfrecord", - "moduleName": "aloha_handover_box.aloha_handover_box", + "moduleName": "abc", "name": "aloha_handover_box", "releaseNotes": { - "1.0.0": "Initial release." + "1.0.0": "Initial release for the task: aloha_handover_box." }, "splits": [ { "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", "name": "train", - "numBytes": "4496768325", + "numBytes": "1732449932", "shardLengths": [ - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2" + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3" ] } ], diff --git a/aloha_handover_box/1.0.0/features.json b/aloha_handover_box/1.0.0/features.json index 780f2788b333a1cda4da5e2b1f1f280b67dcc772..5e4c952b0746be7dcdd22e3a3a3a0be25bbc01a3 100755 --- a/aloha_handover_box/1.0.0/features.json +++ b/aloha_handover_box/1.0.0/features.json @@ -1,135 +1,192 @@ { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "episode_metadata": { - "featuresDict": { - "features": { - "file_path": { - "description": "Path to the original data file.", - "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", - "text": {} - } - } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" - }, "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.features_dict.FeaturesDict", "featuresDict": { "features": { - "ee_6d_pos": { - "description": "2x robot ee pos", + "eef_6d_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "20" ] - } + }, + "dtype": "float32", + "encoding": "none" } }, - "ee_quat_pos": { - "description": "2x robot ee pos", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "16" ] - } + }, + "dtype": "float32", + "encoding": "none" + } + }, + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } }, "language_instruction": { - "description": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "agentview_image": { - "description": "Main camera RGB observation.", + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" + } + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "480", "640", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" - }, - "left_wrist_image": { - "description": "Main camera RGB observation.", - "image": { + }, "dtype": "uint8", - "encodingFormat": "png", + "encodingFormat": "jpeg" + } + }, + "eef_6d_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { "shape": { "dimensions": [ - "240", - "320", - "3" + "20" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "float32", + "encoding": "none" + } }, "right_wrist_image": { - "description": "Main camera RGB observation.", + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "240", "320", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + } }, - "state": { - "description": "xyz, 6D, grp", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { + "shape": { + "dimensions": [ + "16" + ] + }, "dtype": "float32", - "encoding": "none", + "encoding": "none" + } + }, + "left_wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { "shape": { "dimensions": [ - "20" + "240", + "320", + "3" ] - } + }, + "dtype": "uint8", + "encodingFormat": "jpeg" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } }, "length": "-1" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } } \ No newline at end of file diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00000-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..e62d636e76cd99352dfa902375fc7e56842e5df4 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1590a17729f5b8c00f132f9e2e14a1fbf6a6fa647711e2db34a3f2b21aa39b51 +size 107962761 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00001-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..5219fce65e9a4d04649350222cb0f8233f8a0b7e --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a93d2b688f732e08c5407b4ee0526e6441ffdfb6fde9b31d25f454bc88c6253 +size 85292305 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00002-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00002-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..1cf962fb550b6cb4995a95dee33163d8e584ba68 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00002-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:224886a4c53dd66c3cfc5c7be01cbffc377b7cc156d29b5328b7c6c509038a2a +size 92090058 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00003-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00003-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..2d1ba3dd29d6fae5c9d4cf681c83e039fcd9246c --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00003-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5911afdb1d779b23ca779b5558643cec4e26db7cd5b9500a063d85bcdb071f31 +size 81845753 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00004-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00004-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..2cfbb9f7b2563f93e249c2d41b0d3bf71a5b12ff --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00004-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48f3cd4a60e7bb1984d89ebe6a51801ebab8352b02f829ecbe027b6e78b43a46 +size 138255499 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00005-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00005-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..f3330e737602ddbd2142cbd33b5b7a107371364b --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00005-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf81081020d660efe4be6e84822fc9a4e95217fc01bf47f0fa247fb0026434f6 +size 70522307 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00006-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00006-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..3f63ecc5ce2f7d428d485e7ecae04a4e8d2bcbb3 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00006-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e68faa5ff3d89974079aad912fdeecf5b1782c527756330ee8366baa1b720dd +size 91704923 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00007-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00007-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..73980e015e4163ff1c62bd231cb2ba29953fd0a7 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00007-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:458a41cf9e7419826691fa88af3d364dac2cf6c77bc00fc307ba0e5e5971423b +size 105503890 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00008-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00008-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d2b7c2df1820adb1caeca82c8b575410b92dfc0b --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00008-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e3cf2ebe219d9612868b4b07f617d01373c2ea6d520f057a282b031fc52adaf +size 83709776 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00009-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00009-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..8a5f9a194f42783cb55fd259985d6b3fd3e63fb1 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00009-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b27ac3c736445a9328bc74b322473d0636dd8af377b343c21c482efa30cdb0 +size 87424264 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00010-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00010-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..14acdacc29e8929a4154fcb66d10811e680adea2 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00010-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:140b5b88568d22a1dca3325118f187552d837d853326606642f8851bfd15c322 +size 112911558 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00011-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00011-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..dcbac85a7d7b8a85ec4d2071d230dec57be1ee9d --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00011-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9e0eb08aca0a82dbfacf57a292b1d246dca488b434721d0ed4faf71d1690634 +size 109137904 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00012-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00012-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..7b6b62e53a9c8406139b12034b08a810ce9f26aa --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00012-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dd5480464c4140feee3e6d9ecfa62af89004b33fd960e6050a984797a6ba53e +size 91337390 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00013-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00013-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..c7cd5fc90bce9b0f3c637086c2a9412a45bbdd5a --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00013-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6ed734e9a1ca489b9d3156a3bd7b6403645098d56b9eac0f7a7fbcdef2fa24d +size 113256959 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00014-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00014-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..ead0ad6aac0609c8e79718de5a1c6b8e383c1f28 --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00014-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:143d6fdf5e1aefcd6e2cbc29152c75fba094065e5cb933a8f4f0784f3562fb0f +size 83587203 diff --git a/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00015-of-00016 b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00015-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..cb484ae81947ebf3748a1b442cb3dbfac40396ec --- /dev/null +++ b/aloha_lift_box/1.0.0/aloha_lift_box-train.tfrecord-00015-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bffa451d8ca4d447aff09d1eaae89edfce055e00565886a508d5d840382c26b +size 101575212 diff --git a/aloha_lift_box/1.0.0/dataset_info.json b/aloha_lift_box/1.0.0/dataset_info.json index 05b8225eff5e0fea106e1a18a184c17461db0485..c1ef670d1f06f7e798cadf10c443f25e27ceff72 100755 --- a/aloha_lift_box/1.0.0/dataset_info.json +++ b/aloha_lift_box/1.0.0/dataset_info.json @@ -1,49 +1,32 @@ { - "description": "**Tabletop-SIM RLDS Dataset**", "fileFormat": "tfrecord", - "moduleName": "aloha_lift_box.aloha_lift_box", + "moduleName": "abc", "name": "aloha_lift_box", "releaseNotes": { - "1.0.0": "Initial release." + "1.0.0": "Initial release for the task: aloha_lift_box." }, "splits": [ { "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", "name": "train", - "numBytes": "3956049752", + "numBytes": "1556116962", "shardLengths": [ - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2" + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3" ] } ], diff --git a/aloha_lift_box/1.0.0/features.json b/aloha_lift_box/1.0.0/features.json index 780f2788b333a1cda4da5e2b1f1f280b67dcc772..5e4c952b0746be7dcdd22e3a3a3a0be25bbc01a3 100755 --- a/aloha_lift_box/1.0.0/features.json +++ b/aloha_lift_box/1.0.0/features.json @@ -1,135 +1,192 @@ { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "episode_metadata": { - "featuresDict": { - "features": { - "file_path": { - "description": "Path to the original data file.", - "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", - "text": {} - } - } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" - }, "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.features_dict.FeaturesDict", "featuresDict": { "features": { - "ee_6d_pos": { - "description": "2x robot ee pos", + "eef_6d_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "20" ] - } + }, + "dtype": "float32", + "encoding": "none" } }, - "ee_quat_pos": { - "description": "2x robot ee pos", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "16" ] - } + }, + "dtype": "float32", + "encoding": "none" + } + }, + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } }, "language_instruction": { - "description": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "agentview_image": { - "description": "Main camera RGB observation.", + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" + } + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "480", "640", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" - }, - "left_wrist_image": { - "description": "Main camera RGB observation.", - "image": { + }, "dtype": "uint8", - "encodingFormat": "png", + "encodingFormat": "jpeg" + } + }, + "eef_6d_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { "shape": { "dimensions": [ - "240", - "320", - "3" + "20" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "float32", + "encoding": "none" + } }, "right_wrist_image": { - "description": "Main camera RGB observation.", + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "240", "320", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + } }, - "state": { - "description": "xyz, 6D, grp", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { + "shape": { + "dimensions": [ + "16" + ] + }, "dtype": "float32", - "encoding": "none", + "encoding": "none" + } + }, + "left_wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { "shape": { "dimensions": [ - "20" + "240", + "320", + "3" ] - } + }, + "dtype": "uint8", + "encodingFormat": "jpeg" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } }, "length": "-1" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } } \ No newline at end of file diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00000-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..3d0aeae88a9f6eee47843107bf78f33756c1c982 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e9949d7dfab962ba3b29144342c20546aa0f0a255b2ae9075df936fa2e28b69 +size 124417533 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00001-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..9e470a4f5d6d2b585176fb99cdd7575939f174d8 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ba596ea7d7e4b76bfffb2468a3f0039c24e4eb81f246e44d82a48f560d6065d +size 121470314 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00002-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00002-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..023b284aa4f65d4137a03ec2e8eea332ac13188e --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00002-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db6dcbbd86c2891f9ccfa25930cf1b414f007b64947e0cb7cd941ab9e380d1cd +size 116168421 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00003-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00003-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..5ba7717bd7ca007bb97744e9f8c6d8d67b942b99 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00003-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8503e9fb2c6feed1eb2eefa95ad7904cbc577600cc3a2f3c4678c8a100fc084c +size 107904676 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00004-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00004-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..6c8bcee5763402abedaa4b95a94871bfab358190 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00004-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb2d913b4716c94fb56607ffd23c830d026039b2e0842bbed3415fbf1be0b24 +size 146298971 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00005-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00005-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d8cce4ce93134649e4c1351053cdb2f3fedd7482 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00005-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d4953ee09bab6db70cfd67d4d1270a2358afa71f4c4320c1bbb69e717bbd756 +size 106648574 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00006-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00006-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..354333bebd8856462cac3b501f6aba13086366b5 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00006-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ccdbc44265480cf7a16927e3be47c24d7683e0892784b1652763b956599ee0c +size 120262519 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00007-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00007-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..10de7b275f31f16aeeb91944b3c2a2a2c5e57052 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00007-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3503ae83371799206cd421a57e9eeacff6f294e0d8e78d0d3e0bacdf21e4fadf +size 116866350 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00008-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00008-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..91d72a4551bc0927a23a9bcccc9cc5fc3b6d5149 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00008-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:825b7f385a98497d43a2f3704b41bc54d45276be03cd96176a10dd5967e45209 +size 113344837 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00009-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00009-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..2ce5f2b6c1b25a4aae539d0455fc1308465c616e --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00009-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab6e10b00ec989b2ce7b5460ec6e4e405e29b32c1d99437ca80cda78899442b9 +size 137321130 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00010-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00010-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..29bde2d611c6d343519f5c0c10c841bcece27e16 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00010-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:263716112b8dd2aafc1349185ae53460824a636089aa4fda9f17944c77bc8eb3 +size 114238026 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00011-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00011-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..cbe3c2645d4e014c3e59c510db4a1c40c4afd28f --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00011-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:617916245f8ae2e47136fbd9ff219001dd427a78fd826ae35b542a58b0f17b79 +size 154471908 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00012-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00012-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..d60f3a1b57ae142cd27d0c409e8adaea129a2174 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00012-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c63f235ba55688cbed152f77837f4b249308198fa85ac4b416a0009fe3e91ee2 +size 124943970 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00013-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00013-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..b6367282bfd8258617645ce4a67fc469a5ecfb24 --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00013-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:764cb2df75399bfc4ce63b525400f5b379268469e6123f831ef8c1fb19d00272 +size 117795215 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00014-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00014-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..0107da0706205500df4f5df34683a0f527d5499e --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00014-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4c6b5227869de38b856903b68d2a5ab195d35ff0389e94876422751337c324 +size 112185102 diff --git a/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00015-of-00016 b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00015-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..7fbd8e6805581de0467e5c493cb900854aa4972e --- /dev/null +++ b/aloha_shoes_table/1.0.0/aloha_shoes_table-train.tfrecord-00015-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17e2c63580c01b6344d426b8a3ad4450a73b9fb1743d605dc0f30d9c7c9a1b3e +size 127380788 diff --git a/aloha_shoes_table/1.0.0/dataset_info.json b/aloha_shoes_table/1.0.0/dataset_info.json index 145cf2924727f996e63de45ad58a483d6fca8f04..d1fbf6eb084f95ab6aac4141e32cd8a964b56c6f 100755 --- a/aloha_shoes_table/1.0.0/dataset_info.json +++ b/aloha_shoes_table/1.0.0/dataset_info.json @@ -1,49 +1,32 @@ { - "description": "**Tabletop-SIM RLDS Dataset**", "fileFormat": "tfrecord", - "moduleName": "aloha_shoes_table.aloha_shoes_table", + "moduleName": "abc", "name": "aloha_shoes_table", "releaseNotes": { - "1.0.0": "Initial release." + "1.0.0": "Initial release for the task: aloha_shoes_table." }, "splits": [ { "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", "name": "train", - "numBytes": "5150401119", + "numBytes": "1961717534", "shardLengths": [ - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "2", - "1", - "2", - "1", - "2", - "1", - "2", - "1", - "2" + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3", + "3", + "3", + "4", + "3", + "3", + "3", + "3" ] } ], diff --git a/aloha_shoes_table/1.0.0/features.json b/aloha_shoes_table/1.0.0/features.json index 780f2788b333a1cda4da5e2b1f1f280b67dcc772..5e4c952b0746be7dcdd22e3a3a3a0be25bbc01a3 100755 --- a/aloha_shoes_table/1.0.0/features.json +++ b/aloha_shoes_table/1.0.0/features.json @@ -1,135 +1,192 @@ { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "episode_metadata": { - "featuresDict": { - "features": { - "file_path": { - "description": "Path to the original data file.", - "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", - "text": {} - } - } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" - }, "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.features_dict.FeaturesDict", "featuresDict": { "features": { - "ee_6d_pos": { - "description": "2x robot ee pos", + "eef_6d_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "20" ] - } + }, + "dtype": "float32", + "encoding": "none" } }, - "ee_quat_pos": { - "description": "2x robot ee pos", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { - "dtype": "float32", - "encoding": "none", "shape": { "dimensions": [ "16" ] - } + }, + "dtype": "float32", + "encoding": "none" + } + }, + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } }, "language_instruction": { - "description": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", "featuresDict": { "features": { - "agentview_image": { - "description": "Main camera RGB observation.", + "joint_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "14" + ] + }, + "dtype": "float32", + "encoding": "none" + } + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "480", "640", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" - }, - "left_wrist_image": { - "description": "Main camera RGB observation.", - "image": { + }, "dtype": "uint8", - "encodingFormat": "png", + "encodingFormat": "jpeg" + } + }, + "eef_6d_pos": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { "shape": { "dimensions": [ - "240", - "320", - "3" + "20" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "float32", + "encoding": "none" + } }, "right_wrist_image": { - "description": "Main camera RGB observation.", + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", "image": { - "dtype": "uint8", - "encodingFormat": "png", "shape": { "dimensions": [ "240", "320", "3" ] - } - }, - "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + } }, - "state": { - "description": "xyz, 6D, grp", + "eef_quat_pos": { "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { + "shape": { + "dimensions": [ + "16" + ] + }, "dtype": "float32", - "encoding": "none", + "encoding": "none" + } + }, + "left_wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { "shape": { "dimensions": [ - "20" + "240", + "320", + "3" ] - } + }, + "dtype": "uint8", + "encodingFormat": "jpeg" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + } + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } }, "length": "-1" } } } - }, - "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + } } \ No newline at end of file