Datasets:
metadata
dataset_info:
features:
- name: episode_idx
dtype: int32
- name: step_idx
dtype: int32
- name: image
dtype: image
- name: info
struct:
- name: action
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: relative_action
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: state
struct:
- name: end_effector_pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: 'y'
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: observation
struct:
- name: image
dtype: image
- name: task
dtype: string
- name: action
struct:
- name: pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: grasp
dtype: float32
- name: supervision
dtype: float32
- name: relative_action
struct:
- name: pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: grasp
dtype: float32
- name: state
struct:
- name: end_effector_pose
struct:
- name: x
dtype: float32
- name: 'y'
dtype: float32
- name: z
dtype: float32
- name: roll
dtype: float32
- name: pitch
dtype: float32
- name: yaw
dtype: float32
- name: is_first
dtype: int32
- name: is_last
dtype: int32
- name: is_terminal
dtype: int32
- name: image
struct:
- name: array
list:
list:
list: int32
- name: base64
dtype: string
- name: pil
dtype: image
- name: size
list: int32
- name: url
dtype: string
- name: encoding
dtype: string
splits:
- name: all
num_bytes: 433315909
num_examples: 70
- name: default
num_bytes: 104426842851.25
num_examples: 17058
download_size: 33919687848
dataset_size: 104860158760.25
configs:
- config_name: default
data_files:
- split: all
path: data/all-*
- split: default
path: data/default-*