| { | |
| "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": { | |
| "featuresDict": { | |
| "features": { | |
| "action": { | |
| "description": "Robot displacement from last frame", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "discount": { | |
| "description": "Discount if provided, default to 1.", | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "is_first": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "is_last": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "is_terminal": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "language_embedding": { | |
| "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "512" | |
| ] | |
| } | |
| } | |
| }, | |
| "language_instruction": { | |
| "description": "Language Instruction.", | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {} | |
| }, | |
| "observation": { | |
| "featuresDict": { | |
| "features": { | |
| "depth_1": { | |
| "description": "camera 1 depth observation.", | |
| "image": { | |
| "dtype": "uint16", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "1" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "depth_2": { | |
| "description": "camera 2 depth observation.", | |
| "image": { | |
| "dtype": "uint16", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "1" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "depth_3": { | |
| "description": "camera 3 depth observation.", | |
| "image": { | |
| "dtype": "uint16", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "1" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "depth_4": { | |
| "description": "camera 4 depth observation.", | |
| "image": { | |
| "dtype": "uint16", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "1" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "image_1": { | |
| "description": "camera 1 RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "image_2": { | |
| "description": "camera 2 RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "image_3": { | |
| "description": "camera 3 RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "image_4": { | |
| "description": "camera 4 RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "png", | |
| "shape": { | |
| "dimensions": [ | |
| "360", | |
| "640", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "state": { | |
| "description": "Robot end-effector state", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "4", | |
| "4" | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "reward": { | |
| "description": "Reward if provided, 1 on final step for demos.", | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| } |