| { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "episode_metadata": { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "extrinsics_4": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "4", |
| "4" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 4 Extrinsic Matrix." |
| }, |
| "extrinsics_2": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "4", |
| "4" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 2 Extrinsic Matrix." |
| }, |
| "extrinsics_3": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "4", |
| "4" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 3 Extrinsic Matrix." |
| }, |
| "extrinsics_1": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "4", |
| "4" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 1 Extrinsic Matrix." |
| }, |
| "file_path": { |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", |
| "text": {}, |
| "description": "Path to the original data file." |
| } |
| } |
| } |
| }, |
| "steps": { |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", |
| "sequence": { |
| "feature": { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "reward": { |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", |
| "tensor": { |
| "shape": {}, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Reward if provided, 1 on final step for demos." |
| }, |
| "is_last": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": {}, |
| "dtype": "bool", |
| "encoding": "none" |
| } |
| }, |
| "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": { |
| "depth_2": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 2 Depth observation." |
| }, |
| "image_1": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "jpeg" |
| }, |
| "description": "Camera 1 RGB observation." |
| }, |
| "depth_1": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 1 Depth observation." |
| }, |
| "state": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Robot state, consists of [3x robot end-effector position, 3x robot end-effector euler angles, 1x gripper position]." |
| }, |
| "depth_4": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 4 Depth observation." |
| }, |
| "image_2": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "jpeg" |
| }, |
| "description": "Camera 2 RGB observation." |
| }, |
| "image_4": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "jpeg" |
| }, |
| "description": "Camera 4 RGB observation." |
| }, |
| "depth_3": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Camera 3 Depth observation." |
| }, |
| "image_3": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "256", |
| "256", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "jpeg" |
| }, |
| "description": "Camera 3 RGB observation." |
| } |
| } |
| } |
| }, |
| "is_first": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": {}, |
| "dtype": "bool", |
| "encoding": "none" |
| } |
| }, |
| "action": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Robot action, consists of [3x robot end-effector velocities, 3x robot end-effector angular velocities, 1x gripper velocity]." |
| }, |
| "is_terminal": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": {}, |
| "dtype": "bool", |
| "encoding": "none" |
| } |
| }, |
| "discount": { |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", |
| "tensor": { |
| "shape": {}, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Discount if provided, default to 1." |
| }, |
| "language_embedding": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "512" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5" |
| } |
| } |
| } |
| }, |
| "length": "-1" |
| } |
| } |
| } |
| } |
| } |
