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- .gitattributes +80 -0
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{
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"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
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"description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
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"name": "coffee_d0_300__demos",
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"releaseNotes": {
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|
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},
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"splits": [
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{
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"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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"name": "train",
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"numBytes": "1685469056",
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"shardLengths": [
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"18",
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"18",
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| 22 |
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"19",
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"19",
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| 24 |
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"19",
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| 25 |
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"19",
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| 26 |
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"18",
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| 27 |
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"19",
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| 28 |
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"19",
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| 29 |
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"18",
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"19",
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| 31 |
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"19"
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| 32 |
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]
|
| 33 |
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}
|
| 34 |
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],
|
| 35 |
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"version": "1.0.0"
|
| 36 |
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}
|
data_files/sft_data/tensorflow_datasets/coffee_d0_300_demos/1.0.0/dataset_statistics_6303dab9eb5d686d303ac2f4341e5b3b9929337e318abe05b2ae57ba1953d64f.json
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|
data_files/sft_data/tensorflow_datasets/coffee_d0_300_demos/1.0.0/dataset_statistics_b74307af9ba3af4d03873c7e28e9331f2706473442ba932d9facbb4686a89070.json
ADDED
|
@@ -0,0 +1 @@
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| 1 |
+
{"action": {"mean": [0.03910227492451668, 0.026549872010946274, 0.016112811863422394, 0.00617121160030365, 0.009802641347050667, 0.032283715903759, -0.1772146075963974], "std": [0.27866998314857483, 0.36967650055885315, 0.35988616943359375, 0.058437686413526535, 0.06546443700790405, 0.1048748567700386, 0.9841791391372681], "max": [1.0, 1.0, 1.0, 0.30490386486053467, 0.3423435091972351, 0.9236063361167908, 1.0], "min": [-1.0, -1.0, -1.0, -0.28000304102897644, -0.5609405040740967, -0.2864341139793396, -1.0], "q01": [-0.5959250259399415, -0.8261726045608521, -0.6470922386646271, -0.13291869014501573, -0.13417640179395676, -0.1444952118396759, -1.0], "q99": [0.8507216429710388, 0.9586128246784209, 0.9927734541893004, 0.14416057765483808, 0.17207743942737572, 0.37156413376331276, 1.0]}, "proprio": {"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "num_transitions": 65463, "num_trajectories": 300}
|
data_files/sft_data/tensorflow_datasets/coffee_d0_300_demos/1.0.0/features.json
ADDED
|
@@ -0,0 +1,145 @@
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| 1 |
+
{
|
| 2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
+
"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
+
"steps": {
|
| 6 |
+
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 7 |
+
"sequence": {
|
| 8 |
+
"feature": {
|
| 9 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 10 |
+
"featuresDict": {
|
| 11 |
+
"features": {
|
| 12 |
+
"action": {
|
| 13 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 14 |
+
"tensor": {
|
| 15 |
+
"shape": {
|
| 16 |
+
"dimensions": [
|
| 17 |
+
"7"
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"dtype": "float32",
|
| 21 |
+
"encoding": "none"
|
| 22 |
+
},
|
| 23 |
+
"description": "Robot action, consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]."
|
| 24 |
+
},
|
| 25 |
+
"is_terminal": {
|
| 26 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 27 |
+
"tensor": {
|
| 28 |
+
"shape": {},
|
| 29 |
+
"dtype": "bool",
|
| 30 |
+
"encoding": "none"
|
| 31 |
+
},
|
| 32 |
+
"description": "True on last step of the episode if it is a terminal step, True for demos."
|
| 33 |
+
},
|
| 34 |
+
"is_last": {
|
| 35 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 36 |
+
"tensor": {
|
| 37 |
+
"shape": {},
|
| 38 |
+
"dtype": "bool",
|
| 39 |
+
"encoding": "none"
|
| 40 |
+
},
|
| 41 |
+
"description": "True on last step of the episode."
|
| 42 |
+
},
|
| 43 |
+
"language_instruction": {
|
| 44 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 45 |
+
"text": {},
|
| 46 |
+
"description": "Language Instruction."
|
| 47 |
+
},
|
| 48 |
+
"observation": {
|
| 49 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 50 |
+
"featuresDict": {
|
| 51 |
+
"features": {
|
| 52 |
+
"wrist_image": {
|
| 53 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 54 |
+
"image": {
|
| 55 |
+
"shape": {
|
| 56 |
+
"dimensions": [
|
| 57 |
+
"256",
|
| 58 |
+
"256",
|
| 59 |
+
"3"
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"dtype": "uint8",
|
| 63 |
+
"encodingFormat": "jpeg"
|
| 64 |
+
},
|
| 65 |
+
"description": "Wrist camera RGB observation."
|
| 66 |
+
},
|
| 67 |
+
"image": {
|
| 68 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 69 |
+
"image": {
|
| 70 |
+
"shape": {
|
| 71 |
+
"dimensions": [
|
| 72 |
+
"256",
|
| 73 |
+
"256",
|
| 74 |
+
"3"
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"dtype": "uint8",
|
| 78 |
+
"encodingFormat": "jpeg"
|
| 79 |
+
},
|
| 80 |
+
"description": "Main camera RGB observation."
|
| 81 |
+
},
|
| 82 |
+
"state": {
|
| 83 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 84 |
+
"tensor": {
|
| 85 |
+
"shape": {
|
| 86 |
+
"dimensions": [
|
| 87 |
+
"7"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"encoding": "none"
|
| 92 |
+
},
|
| 93 |
+
"description": "Robot state, consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]."
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"is_first": {
|
| 99 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 100 |
+
"tensor": {
|
| 101 |
+
"shape": {},
|
| 102 |
+
"dtype": "bool",
|
| 103 |
+
"encoding": "none"
|
| 104 |
+
},
|
| 105 |
+
"description": "True on first step of the episode."
|
| 106 |
+
},
|
| 107 |
+
"discount": {
|
| 108 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 109 |
+
"tensor": {
|
| 110 |
+
"shape": {},
|
| 111 |
+
"dtype": "float32",
|
| 112 |
+
"encoding": "none"
|
| 113 |
+
},
|
| 114 |
+
"description": "Discount if provided, default to 1."
|
| 115 |
+
},
|
| 116 |
+
"reward": {
|
| 117 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 118 |
+
"tensor": {
|
| 119 |
+
"shape": {},
|
| 120 |
+
"dtype": "float32",
|
| 121 |
+
"encoding": "none"
|
| 122 |
+
},
|
| 123 |
+
"description": "Reward if provided, 1 on final step for demos."
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
"length": "-1"
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"episode_metadata": {
|
| 132 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 133 |
+
"featuresDict": {
|
| 134 |
+
"features": {
|
| 135 |
+
"file_path": {
|
| 136 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 137 |
+
"text": {},
|
| 138 |
+
"description": "Path to the original data file."
|
| 139 |
+
}
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
}
|
data_files/sft_data/tensorflow_datasets/square_d0_300_demos/1.0.0/dataset_info.json
ADDED
|
@@ -0,0 +1,36 @@
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|
| 1 |
+
{
|
| 2 |
+
"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
+
"description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"moduleName": "square_d0_300_demos.square_d0_300_demos_dataset_builder",
|
| 6 |
+
"name": "square_d0_300__demos",
|
| 7 |
+
"releaseNotes": {
|
| 8 |
+
"1.0.0": "Initial release."
|
| 9 |
+
},
|
| 10 |
+
"splits": [
|
| 11 |
+
{
|
| 12 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 13 |
+
"name": "train",
|
| 14 |
+
"numBytes": "1328677864",
|
| 15 |
+
"shardLengths": [
|
| 16 |
+
"19",
|
| 17 |
+
"19",
|
| 18 |
+
"18",
|
| 19 |
+
"19",
|
| 20 |
+
"19",
|
| 21 |
+
"18",
|
| 22 |
+
"19",
|
| 23 |
+
"19",
|
| 24 |
+
"19",
|
| 25 |
+
"19",
|
| 26 |
+
"18",
|
| 27 |
+
"19",
|
| 28 |
+
"19",
|
| 29 |
+
"18",
|
| 30 |
+
"19",
|
| 31 |
+
"19"
|
| 32 |
+
]
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"version": "1.0.0"
|
| 36 |
+
}
|
data_files/sft_data/tensorflow_datasets/square_d0_300_demos/1.0.0/dataset_statistics_0ef2c6e979cda4c9c2888d56d130944091175c56764edcbff620fbad4f5a3f9c.json
ADDED
|
@@ -0,0 +1 @@
|
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|
| 1 |
+
{"action": {"mean": [0.15994426608085632, 0.06310724467039108, -0.06537806242704391, -0.0037805000320076942, 0.01710360497236252, 0.0020227928180247545, 0.02807353064417839], "std": [0.474947452545166, 0.3795938789844513, 0.4127529561519623, 0.06252042204141617, 0.08713261783123016, 0.2808111011981964, 0.9997881054878235], "max": [1.0, 1.0, 1.0, 0.5537217855453491, 0.42483198642730713, 1.0, 1.0], "min": [-1.0, -1.0, -1.0, -0.6610597968101501, -1.0, -1.0, -1.0], "q01": [-0.9930561184883118, -1.0, -0.8730909490585327, -0.15209698542952538, -0.1713835020363331, -0.9631397604942322, -1.0], "q99": [1.0, 1.0, 1.0, 0.1453852570056916, 0.2449473461508752, 1.0, 1.0]}, "proprio": {"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "num_transitions": 46022, "num_trajectories": 300}
|
data_files/sft_data/tensorflow_datasets/square_d0_300_demos/1.0.0/features.json
ADDED
|
@@ -0,0 +1,145 @@
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|
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{
|
| 2 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
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"featuresDict": {
|
| 4 |
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"features": {
|
| 5 |
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"steps": {
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"featuresDict": {
|
| 11 |
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|
| 12 |
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"action": {
|
| 13 |
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|
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|
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|
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|
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|
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| 23 |
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"description": "Robot action, consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]."
|
| 24 |
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},
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"is_terminal": {
|
| 26 |
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|
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|
| 28 |
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|
| 29 |
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"dtype": "bool",
|
| 30 |
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"encoding": "none"
|
| 31 |
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},
|
| 32 |
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"description": "True on last step of the episode if it is a terminal step, True for demos."
|
| 33 |
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},
|
| 34 |
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"is_last": {
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"dtype": "bool",
|
| 39 |
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|
| 40 |
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},
|
| 41 |
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"description": "True on last step of the episode."
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
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|
| 46 |
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|
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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"wrist_image": {
|
| 53 |
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|
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|
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|
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|
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|
| 63 |
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"encodingFormat": "jpeg"
|
| 64 |
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|
| 65 |
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"description": "Wrist camera RGB observation."
|
| 66 |
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},
|
| 67 |
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"image": {
|
| 68 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 69 |
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|
| 70 |
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"shape": {
|
| 71 |
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|
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|
| 78 |
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|
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|
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|
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|
| 82 |
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|
| 83 |
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|
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|
| 86 |
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"dimensions": [
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|
| 88 |
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]
|
| 89 |
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},
|
| 90 |
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"dtype": "float32",
|
| 91 |
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"encoding": "none"
|
| 92 |
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},
|
| 93 |
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"description": "Robot state, consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]."
|
| 94 |
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}
|
| 95 |
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}
|
| 96 |
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}
|
| 97 |
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},
|
| 98 |
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"is_first": {
|
| 99 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 100 |
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"tensor": {
|
| 101 |
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"shape": {},
|
| 102 |
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"dtype": "bool",
|
| 103 |
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"encoding": "none"
|
| 104 |
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},
|
| 105 |
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"description": "True on first step of the episode."
|
| 106 |
+
},
|
| 107 |
+
"discount": {
|
| 108 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 109 |
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"tensor": {
|
| 110 |
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"shape": {},
|
| 111 |
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"dtype": "float32",
|
| 112 |
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"encoding": "none"
|
| 113 |
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},
|
| 114 |
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"description": "Discount if provided, default to 1."
|
| 115 |
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},
|
| 116 |
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"reward": {
|
| 117 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 118 |
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"tensor": {
|
| 119 |
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"shape": {},
|
| 120 |
+
"dtype": "float32",
|
| 121 |
+
"encoding": "none"
|
| 122 |
+
},
|
| 123 |
+
"description": "Reward if provided, 1 on final step for demos."
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
"length": "-1"
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"episode_metadata": {
|
| 132 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 133 |
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"featuresDict": {
|
| 134 |
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"features": {
|
| 135 |
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"file_path": {
|
| 136 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 137 |
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"text": {},
|
| 138 |
+
"description": "Path to the original data file."
|
| 139 |
+
}
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
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}
|
| 144 |
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}
|
| 145 |
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}
|
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ADDED
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ADDED
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
+
"description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"moduleName": "stack_three_d0_300_demos.stack_three_d0_300_demos_dataset_builder",
|
| 6 |
+
"name": "stack__three_d0_300__demos",
|
| 7 |
+
"releaseNotes": {
|
| 8 |
+
"1.0.0": "Initial release."
|
| 9 |
+
},
|
| 10 |
+
"splits": [
|
| 11 |
+
{
|
| 12 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 13 |
+
"name": "train",
|
| 14 |
+
"numBytes": "1944525003",
|
| 15 |
+
"shardLengths": [
|
| 16 |
+
"19",
|
| 17 |
+
"19",
|
| 18 |
+
"18",
|
| 19 |
+
"19",
|
| 20 |
+
"19",
|
| 21 |
+
"18",
|
| 22 |
+
"19",
|
| 23 |
+
"19",
|
| 24 |
+
"19",
|
| 25 |
+
"19",
|
| 26 |
+
"18",
|
| 27 |
+
"19",
|
| 28 |
+
"19",
|
| 29 |
+
"18",
|
| 30 |
+
"19",
|
| 31 |
+
"19"
|
| 32 |
+
]
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"version": "1.0.0"
|
| 36 |
+
}
|
data_files/sft_data/tensorflow_datasets/stack_three_d0_300_demos/1.0.0/dataset_statistics_7200823abd116afae267e582713f9139af16b9deed3326b42a7fc5c1d29bc282.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
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|
| 1 |
+
{"action": {"mean": [0.05272146314382553, -0.0009713830077089369, -0.025267750024795532, -0.002258762251585722, 0.0068724267184734344, 0.01087257731705904, -0.0585864894092083], "std": [0.40330731868743896, 0.39849069714546204, 0.36804842948913574, 0.061656929552555084, 0.07684116065502167, 0.3334025740623474, 0.9981837868690491], "max": [1.0, 1.0, 1.0, 0.4257144033908844, 0.5358051061630249, 1.0, 1.0], "min": [-1.0, -1.0, -1.0, -0.411845862865448, -0.4935794174671173, -1.0, -1.0], "q01": [-1.0, -1.0, -0.6893969440460205, -0.15048537731170655, -0.17073330640792847, -1.0, -1.0], "q99": [1.0, 1.0, 1.0, 0.14510192692279816, 0.20136691212654115, 1.0, 1.0]}, "proprio": {"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "num_transitions": 76929, "num_trajectories": 300}
|
data_files/sft_data/tensorflow_datasets/stack_three_d0_300_demos/1.0.0/features.json
ADDED
|
@@ -0,0 +1,145 @@
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| 1 |
+
{
|
| 2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
+
"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
+
"steps": {
|
| 6 |
+
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 7 |
+
"sequence": {
|
| 8 |
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"feature": {
|
| 9 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 10 |
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"featuresDict": {
|
| 11 |
+
"features": {
|
| 12 |
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"action": {
|
| 13 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 14 |
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"tensor": {
|
| 15 |
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"shape": {
|
| 16 |
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"dimensions": [
|
| 17 |
+
"7"
|
| 18 |
+
]
|
| 19 |
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},
|
| 20 |
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"dtype": "float32",
|
| 21 |
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"encoding": "none"
|
| 22 |
+
},
|
| 23 |
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"description": "Robot action, consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]."
|
| 24 |
+
},
|
| 25 |
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"is_terminal": {
|
| 26 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 27 |
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"tensor": {
|
| 28 |
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"shape": {},
|
| 29 |
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"dtype": "bool",
|
| 30 |
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"encoding": "none"
|
| 31 |
+
},
|
| 32 |
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"description": "True on last step of the episode if it is a terminal step, True for demos."
|
| 33 |
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},
|
| 34 |
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"is_last": {
|
| 35 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 36 |
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"tensor": {
|
| 37 |
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"shape": {},
|
| 38 |
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"dtype": "bool",
|
| 39 |
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"encoding": "none"
|
| 40 |
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},
|
| 41 |
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"description": "True on last step of the episode."
|
| 42 |
+
},
|
| 43 |
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"language_instruction": {
|
| 44 |
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"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 45 |
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"text": {},
|
| 46 |
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"description": "Language Instruction."
|
| 47 |
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},
|
| 48 |
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"observation": {
|
| 49 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 50 |
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"featuresDict": {
|
| 51 |
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"features": {
|
| 52 |
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"wrist_image": {
|
| 53 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 54 |
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"image": {
|
| 55 |
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"shape": {
|
| 56 |
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"dimensions": [
|
| 57 |
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"256",
|
| 58 |
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"256",
|
| 59 |
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"3"
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"dtype": "uint8",
|
| 63 |
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"encodingFormat": "jpeg"
|
| 64 |
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},
|
| 65 |
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"description": "Wrist camera RGB observation."
|
| 66 |
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},
|
| 67 |
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"image": {
|
| 68 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 69 |
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"image": {
|
| 70 |
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"shape": {
|
| 71 |
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"dimensions": [
|
| 72 |
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"256",
|
| 73 |
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"256",
|
| 74 |
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"3"
|
| 75 |
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]
|
| 76 |
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},
|
| 77 |
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"dtype": "uint8",
|
| 78 |
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"encodingFormat": "jpeg"
|
| 79 |
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},
|
| 80 |
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"description": "Main camera RGB observation."
|
| 81 |
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},
|
| 82 |
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"state": {
|
| 83 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 84 |
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"tensor": {
|
| 85 |
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"shape": {
|
| 86 |
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"dimensions": [
|
| 87 |
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"7"
|
| 88 |
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]
|
| 89 |
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},
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"encoding": "none"
|
| 92 |
+
},
|
| 93 |
+
"description": "Robot state, consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]."
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"is_first": {
|
| 99 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 100 |
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"tensor": {
|
| 101 |
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"shape": {},
|
| 102 |
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"dtype": "bool",
|
| 103 |
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"encoding": "none"
|
| 104 |
+
},
|
| 105 |
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"description": "True on first step of the episode."
|
| 106 |
+
},
|
| 107 |
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"discount": {
|
| 108 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 109 |
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"tensor": {
|
| 110 |
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"shape": {},
|
| 111 |
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"dtype": "float32",
|
| 112 |
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"encoding": "none"
|
| 113 |
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},
|
| 114 |
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"description": "Discount if provided, default to 1."
|
| 115 |
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},
|
| 116 |
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"reward": {
|
| 117 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 118 |
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"tensor": {
|
| 119 |
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"shape": {},
|
| 120 |
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"dtype": "float32",
|
| 121 |
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"encoding": "none"
|
| 122 |
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},
|
| 123 |
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"description": "Reward if provided, 1 on final step for demos."
|
| 124 |
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}
|
| 125 |
+
}
|
| 126 |
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}
|
| 127 |
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},
|
| 128 |
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"length": "-1"
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"episode_metadata": {
|
| 132 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 133 |
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"featuresDict": {
|
| 134 |
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"features": {
|
| 135 |
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"file_path": {
|
| 136 |
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"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 137 |
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"text": {},
|
| 138 |
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"description": "Path to the original data file."
|
| 139 |
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}
|
| 140 |
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}
|
| 141 |
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}
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
}
|
data_files/sft_data/tensorflow_datasets/stack_three_d0_300_demos/1.0.0/stack__three_d0_300__demos-train.tfrecord-00000-of-00016
ADDED
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ADDED
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