| { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "steps": { | |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "language_embedding": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "512" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5" | |
| }, | |
| "is_last": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "is_first": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "reward": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Reward if provided, 1 on final step for demos." | |
| }, | |
| "discount": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Discount if provided, default to 1." | |
| }, | |
| "action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot action, consists of [3x EEF position, 1x gripper open/close]." | |
| }, | |
| "language_instruction": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Language Instruction." | |
| }, | |
| "is_terminal": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "observation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "depth_image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "128", | |
| "1" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Main depth camera observation." | |
| }, | |
| "ee_vel": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector velocity." | |
| }, | |
| "ee_yaw": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector yaw." | |
| }, | |
| "ee_orientation_vel": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector orientation velocity." | |
| }, | |
| "image": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "128", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "png" | |
| }, | |
| "description": "Main camera RGB observation." | |
| }, | |
| "ee_yaw_delta": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector yaw delta." | |
| }, | |
| "contact": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "50" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot contact information." | |
| }, | |
| "joint_pos": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot joint positions." | |
| }, | |
| "ee_forces_continuous": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "50", | |
| "6" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector forces." | |
| }, | |
| "joint_vel": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot joint velocities." | |
| }, | |
| "ee_position": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector position." | |
| }, | |
| "state": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "8" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot proprioceptive information, [7x joint pos, 1x gripper open/close]." | |
| }, | |
| "ee_orientation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "4" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot end-effector orientation quaternion." | |
| }, | |
| "optical_flow": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "128", | |
| "128", | |
| "2" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Optical flow." | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "episode_metadata": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": {} | |
| } | |
| } | |
| } | |
| } |