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- .gitattributes +552 -0
- dataset_info.json +586 -0
- features.json +143 -0
- roboturk-test.tfrecord-00000-of-00060 +3 -0
- roboturk-test.tfrecord-00001-of-00060 +3 -0
- roboturk-test.tfrecord-00002-of-00060 +3 -0
- roboturk-test.tfrecord-00003-of-00060 +3 -0
- roboturk-test.tfrecord-00004-of-00060 +3 -0
- roboturk-test.tfrecord-00005-of-00060 +3 -0
- roboturk-test.tfrecord-00006-of-00060 +3 -0
- roboturk-test.tfrecord-00007-of-00060 +3 -0
- roboturk-test.tfrecord-00008-of-00060 +3 -0
- roboturk-test.tfrecord-00009-of-00060 +3 -0
- roboturk-test.tfrecord-00010-of-00060 +3 -0
- roboturk-test.tfrecord-00011-of-00060 +3 -0
- roboturk-test.tfrecord-00012-of-00060 +3 -0
- roboturk-test.tfrecord-00013-of-00060 +3 -0
- roboturk-test.tfrecord-00014-of-00060 +3 -0
- roboturk-test.tfrecord-00015-of-00060 +3 -0
- roboturk-test.tfrecord-00016-of-00060 +3 -0
- roboturk-test.tfrecord-00017-of-00060 +3 -0
- roboturk-test.tfrecord-00018-of-00060 +3 -0
- roboturk-test.tfrecord-00019-of-00060 +3 -0
- roboturk-test.tfrecord-00020-of-00060 +3 -0
- roboturk-test.tfrecord-00021-of-00060 +3 -0
- roboturk-test.tfrecord-00022-of-00060 +3 -0
- roboturk-test.tfrecord-00023-of-00060 +3 -0
- roboturk-test.tfrecord-00024-of-00060 +3 -0
- roboturk-test.tfrecord-00025-of-00060 +3 -0
- roboturk-test.tfrecord-00026-of-00060 +3 -0
- roboturk-test.tfrecord-00027-of-00060 +3 -0
- roboturk-test.tfrecord-00028-of-00060 +3 -0
- roboturk-test.tfrecord-00029-of-00060 +3 -0
- roboturk-test.tfrecord-00030-of-00060 +3 -0
- roboturk-test.tfrecord-00031-of-00060 +3 -0
- roboturk-test.tfrecord-00032-of-00060 +3 -0
- roboturk-test.tfrecord-00033-of-00060 +3 -0
- roboturk-test.tfrecord-00034-of-00060 +3 -0
- roboturk-test.tfrecord-00035-of-00060 +3 -0
- roboturk-test.tfrecord-00036-of-00060 +3 -0
- roboturk-test.tfrecord-00037-of-00060 +3 -0
- roboturk-test.tfrecord-00038-of-00060 +3 -0
- roboturk-test.tfrecord-00039-of-00060 +3 -0
- roboturk-test.tfrecord-00040-of-00060 +3 -0
- roboturk-test.tfrecord-00041-of-00060 +3 -0
- roboturk-test.tfrecord-00042-of-00060 +3 -0
- roboturk-test.tfrecord-00043-of-00060 +3 -0
- roboturk-test.tfrecord-00044-of-00060 +3 -0
- roboturk-test.tfrecord-00045-of-00060 +3 -0
- roboturk-test.tfrecord-00046-of-00060 +3 -0
.gitattributes
CHANGED
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@@ -53,3 +53,555 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
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*.webp filter=lfs diff=lfs merge=lfs -text
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| 53 |
*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
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*.webp filter=lfs diff=lfs merge=lfs -text
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| 56 |
+
roboturk-test.tfrecord-00000-of-00060 filter=lfs diff=lfs merge=lfs -text
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| 57 |
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roboturk-test.tfrecord-00001-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00002-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00003-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00004-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00005-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00006-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00007-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00008-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00009-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00010-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00011-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00012-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00013-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00014-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00015-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00016-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00017-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00018-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00019-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00020-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00021-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00022-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00023-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00024-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00025-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00026-of-00060 filter=lfs diff=lfs merge=lfs -text
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| 83 |
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roboturk-test.tfrecord-00027-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00028-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00029-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00030-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00031-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00032-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00033-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00034-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00035-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00036-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00037-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00038-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00039-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00040-of-00060 filter=lfs diff=lfs merge=lfs -text
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roboturk-test.tfrecord-00041-of-00060 filter=lfs diff=lfs merge=lfs -text
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| 607 |
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dataset_info.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"citation": "@inproceedings{mandlekar2019scaling,\n title={Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity},\n author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li},\n booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n pages={1048--1055},\n year={2019},\n organization={IEEE}\n }",
|
| 3 |
+
"description": "Cloth folding, bowl stacking",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"location": {
|
| 6 |
+
"urls": [
|
| 7 |
+
"https://roboturk.stanford.edu/dataset_real.html"
|
| 8 |
+
]
|
| 9 |
+
},
|
| 10 |
+
"moduleName": "tensorflow_datasets.robotics.rtx.rtx",
|
| 11 |
+
"name": "roboturk",
|
| 12 |
+
"releaseNotes": {
|
| 13 |
+
"0.1.0": "Initial release."
|
| 14 |
+
},
|
| 15 |
+
"splits": [
|
| 16 |
+
{
|
| 17 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 18 |
+
"name": "train",
|
| 19 |
+
"numBytes": "43731897779",
|
| 20 |
+
"shardLengths": [
|
| 21 |
+
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|
| 22 |
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| 24 |
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| 26 |
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| 28 |
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| 31 |
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| 32 |
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| 584 |
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|
| 585 |
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|
| 586 |
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}
|
features.json
ADDED
|
@@ -0,0 +1,143 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
+
"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
+
"steps": {
|
| 6 |
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"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 7 |
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"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 |
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"features": {
|
| 12 |
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"is_last": {
|
| 13 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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},
|
| 20 |
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"observation": {
|
| 21 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 22 |
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"featuresDict": {
|
| 23 |
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"features": {
|
| 24 |
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"natural_language_instruction": {
|
| 25 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"encoding": "none"
|
| 30 |
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}
|
| 31 |
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},
|
| 32 |
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"natural_language_embedding": {
|
| 33 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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]
|
| 39 |
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},
|
| 40 |
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|
| 41 |
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|
| 42 |
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}
|
| 43 |
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},
|
| 44 |
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"front_rgb": {
|
| 45 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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]
|
| 53 |
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},
|
| 54 |
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|
| 55 |
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}
|
| 56 |
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}
|
| 57 |
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}
|
| 58 |
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}
|
| 59 |
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},
|
| 60 |
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"is_first": {
|
| 61 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 62 |
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"tensor": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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"is_terminal": {
|
| 69 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 70 |
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"tensor": {
|
| 71 |
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"shape": {},
|
| 72 |
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"dtype": "bool",
|
| 73 |
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|
| 74 |
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}
|
| 75 |
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},
|
| 76 |
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"reward": {
|
| 77 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 78 |
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"tensor": {
|
| 79 |
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|
| 80 |
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|
| 81 |
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"encoding": "none"
|
| 82 |
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}
|
| 83 |
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},
|
| 84 |
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"action": {
|
| 85 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 86 |
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"featuresDict": {
|
| 87 |
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"features": {
|
| 88 |
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"gripper_closedness_action": {
|
| 89 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 90 |
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"tensor": {
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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]
|
| 95 |
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},
|
| 96 |
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|
| 97 |
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"encoding": "none"
|
| 98 |
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}
|
| 99 |
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},
|
| 100 |
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"world_vector": {
|
| 101 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"dtype": "float32",
|
| 109 |
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|
| 110 |
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}
|
| 111 |
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},
|
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