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---
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license: cc-by-4.0
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---
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# Fractal20220817 Dataset
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The **[Fractal20220817](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)** dataset is provided in **RLDS format** and contains monocular depth annotations generated using **[Video-Depth-Anything](https://github.com/DepthAnything/Video-Depth-Anything)**.
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- **Format**: RLDS
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- **Depth Annotation method**: Video-Depth-Anything (monocular depth estimation)
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- **Total size**:
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feature.json
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```json
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{
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"attributes": {
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"collection_mode_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"collection_mode": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"task_family_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"location_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"env_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"env": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"objects_family_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"data_type": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"objects_family": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"location": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"task_family": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "int64",
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"encoding": "none"
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}
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},
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"data_type_name": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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}
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}
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}
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},
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"aspects": {
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"feasible": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"success": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"undesirable": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"already_success": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"has_aspects": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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}
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}
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},
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"description": "Session Aspects for crowdcompute ratings"
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},
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"steps": {
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"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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"sequence": {
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"feature": {
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"is_terminal": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"is_first": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "bool",
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"encoding": "none"
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}
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},
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"action": {
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"gripper_closedness_action": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"1"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "continuous gripper position"
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},
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"terminate_episode": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3"
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]
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},
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"dtype": "int32",
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"encoding": "none"
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}
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},
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"base_displacement_vector": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"2"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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"rotation_delta": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "rpy commanded orientation displacement, in base-relative frame"
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},
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"base_displacement_vertical_rotation": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"1"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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"world_vector": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "commanded end-effector displacement, in base-relative frame"
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}
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}
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}
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},
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"reward": {
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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"shape": {},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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"observation": {
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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"featuresDict": {
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"features": {
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"rotation_delta_to_go": {
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| 287 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "rotational displacement from current orientation to target"
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},
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"orientation_start": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"4"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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"height_to_bottom": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"1"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "height of end-effector from ground"
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},
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"natural_language_instruction": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {},
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"dtype": "string",
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"encoding": "none"
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}
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},
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"natural_language_embedding": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"512"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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| 343 |
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},
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"workspace_bounds": {
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| 345 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3",
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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| 357 |
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"robot_orientation_positions_box": {
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| 358 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3",
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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}
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},
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| 370 |
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"gripper_closedness_commanded": {
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| 371 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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| 372 |
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"tensor": {
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"shape": {
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"dimensions": [
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"1"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "continuous gripper position"
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},
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| 383 |
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"base_pose_tool_reached": {
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| 384 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"7"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "end-effector base-relative position+quaternion pose"
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},
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"vector_to_go": {
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"shape": {
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"dimensions": [
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"3"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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},
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"description": "displacement from current end-effector position to target"
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},
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| 409 |
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"src_rotation": {
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| 410 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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| 411 |
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"tensor": {
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| 412 |
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"shape": {
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| 413 |
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"dimensions": [
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"4"
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]
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},
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"dtype": "float32",
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"encoding": "none"
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| 419 |
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}
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| 420 |
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},
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| 421 |
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"gripper_closed": {
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| 422 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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| 424 |
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"shape": {
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| 425 |
-
"dimensions": [
|
| 426 |
-
"1"
|
| 427 |
-
]
|
| 428 |
-
},
|
| 429 |
-
"dtype": "float32",
|
| 430 |
-
"encoding": "none"
|
| 431 |
-
}
|
| 432 |
-
},
|
| 433 |
-
"image": {
|
| 434 |
-
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 435 |
-
"image": {
|
| 436 |
-
"shape": {
|
| 437 |
-
"dimensions": [
|
| 438 |
-
"256",
|
| 439 |
-
"320",
|
| 440 |
-
"3"
|
| 441 |
-
]
|
| 442 |
-
},
|
| 443 |
-
"dtype": "uint8",
|
| 444 |
-
"encodingFormat": "jpeg"
|
| 445 |
-
}
|
| 446 |
-
},
|
| 447 |
-
"image_depth": {
|
| 448 |
-
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 449 |
-
"image": {
|
| 450 |
-
"shape": {
|
| 451 |
-
"dimensions": [
|
| 452 |
-
"256",
|
| 453 |
-
"256",
|
| 454 |
-
"3"
|
| 455 |
-
]
|
| 456 |
-
},
|
| 457 |
-
"dtype": "uint8",
|
| 458 |
-
"encodingFormat": "jpeg"
|
| 459 |
-
}
|
| 460 |
-
},
|
| 461 |
-
"orientation_box": {
|
| 462 |
-
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 463 |
-
"tensor": {
|
| 464 |
-
"shape": {
|
| 465 |
-
"dimensions": [
|
| 466 |
-
"2",
|
| 467 |
-
"3"
|
| 468 |
-
]
|
| 469 |
-
},
|
| 470 |
-
"dtype": "float32",
|
| 471 |
-
"encoding": "none"
|
| 472 |
-
}
|
| 473 |
-
}
|
| 474 |
-
}
|
| 475 |
-
}
|
| 476 |
-
},
|
| 477 |
-
"is_last": {
|
| 478 |
-
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 479 |
-
"tensor": {
|
| 480 |
-
"shape": {},
|
| 481 |
-
"dtype": "bool",
|
| 482 |
-
"encoding": "none"
|
| 483 |
-
}
|
| 484 |
-
}
|
| 485 |
-
}
|
| 486 |
-
}
|
| 487 |
-
},
|
| 488 |
-
"length": "-1"
|
| 489 |
-
}
|
| 490 |
-
}
|
| 491 |
-
}
|
| 492 |
-
}
|
| 493 |
-
}
|
| 494 |
-
```
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: cc-by-4.0
|
| 3 |
+
---
|
| 4 |
+
# Fractal20220817 Dataset
|
| 5 |
+
|
| 6 |
+
The **[Fractal20220817](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)** dataset is provided in **RLDS format** and contains monocular depth annotations generated using **[Video-Depth-Anything](https://github.com/DepthAnything/Video-Depth-Anything)**.
|
| 7 |
+
|
| 8 |
+
- **Format**: RLDS
|
| 9 |
+
- **Depth Annotation method**: Video-Depth-Anything (monocular depth estimation)
|
| 10 |
+
- **Total size**: 153 GB
|
| 11 |
+
|
| 12 |
+
feature.json
|
| 13 |
+
```json
|
| 14 |
+
{
|
| 15 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 16 |
+
"featuresDict": {
|
| 17 |
+
"features": {
|
| 18 |
+
"attributes": {
|
| 19 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 20 |
+
"featuresDict": {
|
| 21 |
+
"features": {
|
| 22 |
+
"collection_mode_name": {
|
| 23 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 24 |
+
"tensor": {
|
| 25 |
+
"shape": {},
|
| 26 |
+
"dtype": "string",
|
| 27 |
+
"encoding": "none"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"collection_mode": {
|
| 31 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 32 |
+
"tensor": {
|
| 33 |
+
"shape": {},
|
| 34 |
+
"dtype": "int64",
|
| 35 |
+
"encoding": "none"
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"task_family_name": {
|
| 39 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 40 |
+
"tensor": {
|
| 41 |
+
"shape": {},
|
| 42 |
+
"dtype": "string",
|
| 43 |
+
"encoding": "none"
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"location_name": {
|
| 47 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 48 |
+
"tensor": {
|
| 49 |
+
"shape": {},
|
| 50 |
+
"dtype": "string",
|
| 51 |
+
"encoding": "none"
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"env_name": {
|
| 55 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 56 |
+
"tensor": {
|
| 57 |
+
"shape": {},
|
| 58 |
+
"dtype": "string",
|
| 59 |
+
"encoding": "none"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"env": {
|
| 63 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 64 |
+
"tensor": {
|
| 65 |
+
"shape": {},
|
| 66 |
+
"dtype": "int64",
|
| 67 |
+
"encoding": "none"
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"objects_family_name": {
|
| 71 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 72 |
+
"tensor": {
|
| 73 |
+
"shape": {},
|
| 74 |
+
"dtype": "string",
|
| 75 |
+
"encoding": "none"
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"data_type": {
|
| 79 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 80 |
+
"tensor": {
|
| 81 |
+
"shape": {},
|
| 82 |
+
"dtype": "int64",
|
| 83 |
+
"encoding": "none"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"objects_family": {
|
| 87 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 88 |
+
"tensor": {
|
| 89 |
+
"shape": {},
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"encoding": "none"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"location": {
|
| 95 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 96 |
+
"tensor": {
|
| 97 |
+
"shape": {},
|
| 98 |
+
"dtype": "int64",
|
| 99 |
+
"encoding": "none"
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"task_family": {
|
| 103 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 104 |
+
"tensor": {
|
| 105 |
+
"shape": {},
|
| 106 |
+
"dtype": "int64",
|
| 107 |
+
"encoding": "none"
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"data_type_name": {
|
| 111 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 112 |
+
"tensor": {
|
| 113 |
+
"shape": {},
|
| 114 |
+
"dtype": "string",
|
| 115 |
+
"encoding": "none"
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
}
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"aspects": {
|
| 122 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 123 |
+
"featuresDict": {
|
| 124 |
+
"features": {
|
| 125 |
+
"feasible": {
|
| 126 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 127 |
+
"tensor": {
|
| 128 |
+
"shape": {},
|
| 129 |
+
"dtype": "bool",
|
| 130 |
+
"encoding": "none"
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
"success": {
|
| 134 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 135 |
+
"tensor": {
|
| 136 |
+
"shape": {},
|
| 137 |
+
"dtype": "bool",
|
| 138 |
+
"encoding": "none"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"undesirable": {
|
| 142 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 143 |
+
"tensor": {
|
| 144 |
+
"shape": {},
|
| 145 |
+
"dtype": "bool",
|
| 146 |
+
"encoding": "none"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"already_success": {
|
| 150 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 151 |
+
"tensor": {
|
| 152 |
+
"shape": {},
|
| 153 |
+
"dtype": "bool",
|
| 154 |
+
"encoding": "none"
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"has_aspects": {
|
| 158 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 159 |
+
"tensor": {
|
| 160 |
+
"shape": {},
|
| 161 |
+
"dtype": "bool",
|
| 162 |
+
"encoding": "none"
|
| 163 |
+
}
|
| 164 |
+
}
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"description": "Session Aspects for crowdcompute ratings"
|
| 168 |
+
},
|
| 169 |
+
"steps": {
|
| 170 |
+
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 171 |
+
"sequence": {
|
| 172 |
+
"feature": {
|
| 173 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 174 |
+
"featuresDict": {
|
| 175 |
+
"features": {
|
| 176 |
+
"is_terminal": {
|
| 177 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 178 |
+
"tensor": {
|
| 179 |
+
"shape": {},
|
| 180 |
+
"dtype": "bool",
|
| 181 |
+
"encoding": "none"
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"is_first": {
|
| 185 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 186 |
+
"tensor": {
|
| 187 |
+
"shape": {},
|
| 188 |
+
"dtype": "bool",
|
| 189 |
+
"encoding": "none"
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"action": {
|
| 193 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 194 |
+
"featuresDict": {
|
| 195 |
+
"features": {
|
| 196 |
+
"gripper_closedness_action": {
|
| 197 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 198 |
+
"tensor": {
|
| 199 |
+
"shape": {
|
| 200 |
+
"dimensions": [
|
| 201 |
+
"1"
|
| 202 |
+
]
|
| 203 |
+
},
|
| 204 |
+
"dtype": "float32",
|
| 205 |
+
"encoding": "none"
|
| 206 |
+
},
|
| 207 |
+
"description": "continuous gripper position"
|
| 208 |
+
},
|
| 209 |
+
"terminate_episode": {
|
| 210 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 211 |
+
"tensor": {
|
| 212 |
+
"shape": {
|
| 213 |
+
"dimensions": [
|
| 214 |
+
"3"
|
| 215 |
+
]
|
| 216 |
+
},
|
| 217 |
+
"dtype": "int32",
|
| 218 |
+
"encoding": "none"
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"base_displacement_vector": {
|
| 222 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 223 |
+
"tensor": {
|
| 224 |
+
"shape": {
|
| 225 |
+
"dimensions": [
|
| 226 |
+
"2"
|
| 227 |
+
]
|
| 228 |
+
},
|
| 229 |
+
"dtype": "float32",
|
| 230 |
+
"encoding": "none"
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
"rotation_delta": {
|
| 234 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 235 |
+
"tensor": {
|
| 236 |
+
"shape": {
|
| 237 |
+
"dimensions": [
|
| 238 |
+
"3"
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"dtype": "float32",
|
| 242 |
+
"encoding": "none"
|
| 243 |
+
},
|
| 244 |
+
"description": "rpy commanded orientation displacement, in base-relative frame"
|
| 245 |
+
},
|
| 246 |
+
"base_displacement_vertical_rotation": {
|
| 247 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 248 |
+
"tensor": {
|
| 249 |
+
"shape": {
|
| 250 |
+
"dimensions": [
|
| 251 |
+
"1"
|
| 252 |
+
]
|
| 253 |
+
},
|
| 254 |
+
"dtype": "float32",
|
| 255 |
+
"encoding": "none"
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"world_vector": {
|
| 259 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 260 |
+
"tensor": {
|
| 261 |
+
"shape": {
|
| 262 |
+
"dimensions": [
|
| 263 |
+
"3"
|
| 264 |
+
]
|
| 265 |
+
},
|
| 266 |
+
"dtype": "float32",
|
| 267 |
+
"encoding": "none"
|
| 268 |
+
},
|
| 269 |
+
"description": "commanded end-effector displacement, in base-relative frame"
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
},
|
| 274 |
+
"reward": {
|
| 275 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 276 |
+
"tensor": {
|
| 277 |
+
"shape": {},
|
| 278 |
+
"dtype": "float32",
|
| 279 |
+
"encoding": "none"
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"observation": {
|
| 283 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 284 |
+
"featuresDict": {
|
| 285 |
+
"features": {
|
| 286 |
+
"rotation_delta_to_go": {
|
| 287 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 288 |
+
"tensor": {
|
| 289 |
+
"shape": {
|
| 290 |
+
"dimensions": [
|
| 291 |
+
"3"
|
| 292 |
+
]
|
| 293 |
+
},
|
| 294 |
+
"dtype": "float32",
|
| 295 |
+
"encoding": "none"
|
| 296 |
+
},
|
| 297 |
+
"description": "rotational displacement from current orientation to target"
|
| 298 |
+
},
|
| 299 |
+
"orientation_start": {
|
| 300 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 301 |
+
"tensor": {
|
| 302 |
+
"shape": {
|
| 303 |
+
"dimensions": [
|
| 304 |
+
"4"
|
| 305 |
+
]
|
| 306 |
+
},
|
| 307 |
+
"dtype": "float32",
|
| 308 |
+
"encoding": "none"
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"height_to_bottom": {
|
| 312 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 313 |
+
"tensor": {
|
| 314 |
+
"shape": {
|
| 315 |
+
"dimensions": [
|
| 316 |
+
"1"
|
| 317 |
+
]
|
| 318 |
+
},
|
| 319 |
+
"dtype": "float32",
|
| 320 |
+
"encoding": "none"
|
| 321 |
+
},
|
| 322 |
+
"description": "height of end-effector from ground"
|
| 323 |
+
},
|
| 324 |
+
"natural_language_instruction": {
|
| 325 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 326 |
+
"tensor": {
|
| 327 |
+
"shape": {},
|
| 328 |
+
"dtype": "string",
|
| 329 |
+
"encoding": "none"
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"natural_language_embedding": {
|
| 333 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 334 |
+
"tensor": {
|
| 335 |
+
"shape": {
|
| 336 |
+
"dimensions": [
|
| 337 |
+
"512"
|
| 338 |
+
]
|
| 339 |
+
},
|
| 340 |
+
"dtype": "float32",
|
| 341 |
+
"encoding": "none"
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"workspace_bounds": {
|
| 345 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 346 |
+
"tensor": {
|
| 347 |
+
"shape": {
|
| 348 |
+
"dimensions": [
|
| 349 |
+
"3",
|
| 350 |
+
"3"
|
| 351 |
+
]
|
| 352 |
+
},
|
| 353 |
+
"dtype": "float32",
|
| 354 |
+
"encoding": "none"
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"robot_orientation_positions_box": {
|
| 358 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 359 |
+
"tensor": {
|
| 360 |
+
"shape": {
|
| 361 |
+
"dimensions": [
|
| 362 |
+
"3",
|
| 363 |
+
"3"
|
| 364 |
+
]
|
| 365 |
+
},
|
| 366 |
+
"dtype": "float32",
|
| 367 |
+
"encoding": "none"
|
| 368 |
+
}
|
| 369 |
+
},
|
| 370 |
+
"gripper_closedness_commanded": {
|
| 371 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 372 |
+
"tensor": {
|
| 373 |
+
"shape": {
|
| 374 |
+
"dimensions": [
|
| 375 |
+
"1"
|
| 376 |
+
]
|
| 377 |
+
},
|
| 378 |
+
"dtype": "float32",
|
| 379 |
+
"encoding": "none"
|
| 380 |
+
},
|
| 381 |
+
"description": "continuous gripper position"
|
| 382 |
+
},
|
| 383 |
+
"base_pose_tool_reached": {
|
| 384 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 385 |
+
"tensor": {
|
| 386 |
+
"shape": {
|
| 387 |
+
"dimensions": [
|
| 388 |
+
"7"
|
| 389 |
+
]
|
| 390 |
+
},
|
| 391 |
+
"dtype": "float32",
|
| 392 |
+
"encoding": "none"
|
| 393 |
+
},
|
| 394 |
+
"description": "end-effector base-relative position+quaternion pose"
|
| 395 |
+
},
|
| 396 |
+
"vector_to_go": {
|
| 397 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 398 |
+
"tensor": {
|
| 399 |
+
"shape": {
|
| 400 |
+
"dimensions": [
|
| 401 |
+
"3"
|
| 402 |
+
]
|
| 403 |
+
},
|
| 404 |
+
"dtype": "float32",
|
| 405 |
+
"encoding": "none"
|
| 406 |
+
},
|
| 407 |
+
"description": "displacement from current end-effector position to target"
|
| 408 |
+
},
|
| 409 |
+
"src_rotation": {
|
| 410 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 411 |
+
"tensor": {
|
| 412 |
+
"shape": {
|
| 413 |
+
"dimensions": [
|
| 414 |
+
"4"
|
| 415 |
+
]
|
| 416 |
+
},
|
| 417 |
+
"dtype": "float32",
|
| 418 |
+
"encoding": "none"
|
| 419 |
+
}
|
| 420 |
+
},
|
| 421 |
+
"gripper_closed": {
|
| 422 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 423 |
+
"tensor": {
|
| 424 |
+
"shape": {
|
| 425 |
+
"dimensions": [
|
| 426 |
+
"1"
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"dtype": "float32",
|
| 430 |
+
"encoding": "none"
|
| 431 |
+
}
|
| 432 |
+
},
|
| 433 |
+
"image": {
|
| 434 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 435 |
+
"image": {
|
| 436 |
+
"shape": {
|
| 437 |
+
"dimensions": [
|
| 438 |
+
"256",
|
| 439 |
+
"320",
|
| 440 |
+
"3"
|
| 441 |
+
]
|
| 442 |
+
},
|
| 443 |
+
"dtype": "uint8",
|
| 444 |
+
"encodingFormat": "jpeg"
|
| 445 |
+
}
|
| 446 |
+
},
|
| 447 |
+
"image_depth": {
|
| 448 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 449 |
+
"image": {
|
| 450 |
+
"shape": {
|
| 451 |
+
"dimensions": [
|
| 452 |
+
"256",
|
| 453 |
+
"256",
|
| 454 |
+
"3"
|
| 455 |
+
]
|
| 456 |
+
},
|
| 457 |
+
"dtype": "uint8",
|
| 458 |
+
"encodingFormat": "jpeg"
|
| 459 |
+
}
|
| 460 |
+
},
|
| 461 |
+
"orientation_box": {
|
| 462 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 463 |
+
"tensor": {
|
| 464 |
+
"shape": {
|
| 465 |
+
"dimensions": [
|
| 466 |
+
"2",
|
| 467 |
+
"3"
|
| 468 |
+
]
|
| 469 |
+
},
|
| 470 |
+
"dtype": "float32",
|
| 471 |
+
"encoding": "none"
|
| 472 |
+
}
|
| 473 |
+
}
|
| 474 |
+
}
|
| 475 |
+
}
|
| 476 |
+
},
|
| 477 |
+
"is_last": {
|
| 478 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 479 |
+
"tensor": {
|
| 480 |
+
"shape": {},
|
| 481 |
+
"dtype": "bool",
|
| 482 |
+
"encoding": "none"
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"length": "-1"
|
| 489 |
+
}
|
| 490 |
+
}
|
| 491 |
+
}
|
| 492 |
+
}
|
| 493 |
+
}
|
| 494 |
+
```
|