| { | |
| "featuresDict": { | |
| "features": { | |
| "episode_metadata": { | |
| "featuresDict": { | |
| "features": { | |
| "action_bounds": { | |
| "featuresDict": { | |
| "features": { | |
| "high": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "low": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "end-effector type": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "failure": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "file_path": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "n_objects": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "num_steps": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "robot_components_seg_ids": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "seed": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "success": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "task": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "steps": { | |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", | |
| "sequence": { | |
| "feature": { | |
| "featuresDict": { | |
| "features": { | |
| "action": { | |
| "featuresDict": { | |
| "features": { | |
| "pose0_position": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "pose0_rotation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| } | |
| } | |
| }, | |
| "pose1_position": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "pose1_rotation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float32", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "discount": { | |
| "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": {} | |
| } | |
| }, | |
| "multimodal_instruction": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "multimodal_instruction_assets": { | |
| "featuresDict": { | |
| "features": { | |
| "asset_type": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "frontal_image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256", | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "frontal_segmentation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256" | |
| ] | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256", | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "key_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "segmentation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256" | |
| ] | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "segmentation_obj_info": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "featuresDict": { | |
| "features": { | |
| "obj_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "segm_id": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "texture_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "observation": { | |
| "featuresDict": { | |
| "features": { | |
| "ee": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "frontal_image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256", | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "frontal_segmentation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256" | |
| ] | |
| } | |
| } | |
| }, | |
| "image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256", | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "segmentation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "uint8", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "256" | |
| ] | |
| } | |
| } | |
| }, | |
| "segmentation_obj_info": { | |
| "featuresDict": { | |
| "features": { | |
| "obj_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "segm_id": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "int64", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "texture_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.sequence_feature.Sequence", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "reward": { | |
| "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" | |
| } |