--- dataset_info: - config_name: default features: - name: task dtype: class_label: names: '0': follow_motion '1': follow_order '2': manipulate_old_neighbor '3': novel_adj '4': novel_adj_and_noun '5': novel_noun '6': pick_in_order_then_restore '7': rearrange '8': rearrange_then_restore '9': rotate '10': same_color '11': same_profile '12': same_shape '13': same_texture '14': scene_understanding '15': simple_manipulation '16': sweep '17': sweep_without_exceeding '18': sweep_without_touching '19': twist '20': visual_manipulation - name: raw_prompts_token_type sequence: sequence: int8 length: 1 - name: word_batch sequence: int64 - name: image_batch struct: - name: bbox struct: - name: front sequence: sequence: sequence: int32 length: 4 - name: top sequence: sequence: sequence: int32 length: 4 - name: cropped_img struct: - name: front sequence: sequence: array3_d: shape: - 3 - 32 - 32 dtype: float32 id: cropped_img - name: top sequence: sequence: array3_d: shape: - 3 - 32 - 32 dtype: float32 id: cropped_img - name: mask struct: - name: front sequence: sequence: bool - name: top sequence: sequence: bool - name: observations struct: - name: ee sequence: sequence: int8 - name: objects struct: - name: bbox struct: - name: front sequence: sequence: sequence: sequence: int32 length: 4 length: 1 - name: top sequence: sequence: sequence: sequence: int32 length: 4 length: 1 - name: cropped_img struct: - name: front sequence: sequence: sequence: array3_d: shape: - 3 - 32 - 32 dtype: float32 id: cropped_img length: 1 - name: top sequence: sequence: sequence: array3_d: shape: - 3 - 32 - 32 dtype: float32 id: cropped_img length: 1 - name: mask struct: - name: front sequence: sequence: sequence: bool length: 1 - name: top sequence: sequence: sequence: bool length: 1 - name: actions struct: - name: pose0_position sequence: sequence: int32 length: 2 - name: pose1_position sequence: sequence: int32 length: 2 - name: pose0_rotation sequence: sequence: int32 length: 4 - name: pose1_rotation sequence: sequence: int32 length: 4 splits: - name: train num_bytes: 159323231926 num_examples: 614976 - name: valid num_bytes: 12951164797 num_examples: 50000 download_size: 91241218664 dataset_size: 172274396723 - config_name: raw--follow_order features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 60669165155 num_examples: 46266 - name: valid num_bytes: 4971184423 num_examples: 3791 download_size: 0 dataset_size: 65640349578 - config_name: raw--manipulate_old_neighbor features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 48590074568 num_examples: 46231 - name: valid num_bytes: 3981509881 num_examples: 3788 download_size: 1472741942 dataset_size: 52571584449 - config_name: raw--novel_adj features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 109433258253 num_examples: 46361 - name: valid num_bytes: 8967278730 num_examples: 3799 download_size: 1056888134 dataset_size: 118400536983 - config_name: raw--novel_noun features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 36467907255 num_examples: 46324 - name: valid num_bytes: 2987887672 num_examples: 3796 download_size: 0 dataset_size: 39455794927 - config_name: raw--pick_in_order_then_restore features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 73240868290 num_examples: 46442 - name: valid num_bytes: 5998118809 num_examples: 3806 download_size: 5300427974 dataset_size: 79238987099 - config_name: raw--rearrange features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 37146405713 num_examples: 47203 - name: valid num_bytes: 3016240460 num_examples: 3868 download_size: 0 dataset_size: 40162646173 - config_name: raw--rearrange_then_restore features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 58242011980 num_examples: 46285 - name: valid num_bytes: 4779430442 num_examples: 3793 download_size: 0 dataset_size: 63021442422 - config_name: raw--rotate features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 24249770554 num_examples: 46213 - name: valid num_bytes: 1987084581 num_examples: 3787 download_size: 0 dataset_size: 26236855135 - config_name: raw--same_shape features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 42555421252 num_examples: 53761 - name: valid num_bytes: 3484551711 num_examples: 4405 download_size: 0 dataset_size: 46039972963 - config_name: raw--scene_understanding features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 24267042552 num_examples: 46213 - name: valid num_bytes: 1988733296 num_examples: 3787 download_size: 0 dataset_size: 26255775848 - config_name: raw--sweep_without_exceeding features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 52597846945 num_examples: 46324 - name: valid num_bytes: 4334369250 num_examples: 3796 download_size: 0 dataset_size: 56932216195 - config_name: raw--twist features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - 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name: train num_bytes: 90931741090 num_examples: 46213 - name: valid num_bytes: 7444032212 num_examples: 3787 download_size: 0 dataset_size: 98375773302 - config_name: raw--visual_manipulation features: - name: index dtype: int64 - name: task dtype: class_label: names: '0': visual_manipulation '1': scene_understanding '2': rotate '3': rearrange '4': rearrange_then_restore '5': novel_adj '6': novel_noun '7': novel_adj_and_noun '8': twist '9': follow_motion '10': follow_order '11': sweep_without_exceeding '12': sweep_without_touching '13': same_texture '14': same_shape '15': manipulate_old_neighbor '16': pick_in_order_then_restore - name: object_metadata sequence: - name: obj_id dtype: int64 - name: obj_name dtype: string - name: obj_asset_name dtype: string - name: texture_name dtype: string - name: total_steps dtype: int64 - name: end_effector_type dtype: string - name: observations sequence: - name: index dtype: int64 - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 - name: pose_actions sequence: - name: index dtype: int64 - name: pose0_position sequence: float32 length: 2 - name: pose0_rotation sequence: float32 length: 4 - name: pose1_position sequence: float32 length: 2 - name: pose1_rotation sequence: float32 length: 4 - name: prompt dtype: string - name: prompt_assets sequence: - name: name dtype: string - name: rgb struct: - name: front sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: top sequence: sequence: sequence: uint8 length: 256 length: 128 length: 3 - name: segm struct: - name: front sequence: sequence: uint8 length: 256 length: 128 - name: top sequence: sequence: uint8 length: 256 length: 128 splits: - name: train num_bytes: 36419464817 num_examples: 46272 - name: valid num_bytes: 2985119189 num_examples: 3792 download_size: 0 dataset_size: 39404584006 configs: - config_name: raw--follow_order data_files: - split: train path: raw--follow_order/train-* - split: valid path: raw--follow_order/valid-* - config_name: raw--manipulate_old_neighbor data_files: - split: train path: raw--manipulate_old_neighbor/train-* - split: valid path: raw--manipulate_old_neighbor/valid-* - config_name: raw--novel_adj data_files: - split: train path: raw--novel_adj/train-* - split: valid path: raw--novel_adj/valid-* - config_name: raw--novel_noun data_files: - split: train path: raw--novel_noun/train-* - split: valid path: raw--novel_noun/valid-* - config_name: raw--pick_in_order_then_restore data_files: - split: train path: raw--pick_in_order_then_restore/train-* - split: valid path: raw--pick_in_order_then_restore/valid-* - config_name: raw--rearrange data_files: - split: train path: raw--rearrange/train-* - split: valid path: raw--rearrange/valid-* - config_name: raw--rearrange_then_restore data_files: - split: train path: raw--rearrange_then_restore/train-* - split: valid path: raw--rearrange_then_restore/valid-* - config_name: raw--rotate data_files: - split: train path: raw--rotate/train-* - split: valid path: raw--rotate/valid-* - config_name: raw--same_shape data_files: - split: train path: raw--same_shape/train-* - split: valid path: raw--same_shape/valid-* - config_name: raw--scene_understanding data_files: - split: train path: raw--scene_understanding/train-* - split: valid path: raw--scene_understanding/valid-* - config_name: raw--sweep_without_exceeding data_files: - split: train path: raw--sweep_without_exceeding/train-* - split: valid path: raw--sweep_without_exceeding/valid-* - config_name: raw--twist data_files: - split: train path: raw--twist/train-* - split: valid path: raw--twist/valid-* - config_name: raw--visual_manipulation data_files: - split: train path: raw--visual_manipulation/train-* - split: valid path: raw--visual_manipulation/valid-* --- # Dataset Card for "vima" [More Information needed](https://github.com/huggingface/datasets/blob/main/CONTRIBUTING.md#how-to-contribute-to-the-dataset-cards)