| { |
| "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": { |
| "observation": { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "proprio": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Robot state, consists of [robot0_eef_pos, robot0_eef_euler, robot0_gripper_qpos[0]]." |
| }, |
| "image_wrist": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "180", |
| "320", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "png" |
| }, |
| "description": "Wrist camera RGB observation." |
| }, |
| "timestep": { |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", |
| "tensor": { |
| "shape": {}, |
| "dtype": "int32", |
| "encoding": "none" |
| }, |
| "description": "Timestep of the episode." |
| }, |
| "image_primary": { |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", |
| "image": { |
| "shape": { |
| "dimensions": [ |
| "180", |
| "320", |
| "3" |
| ] |
| }, |
| "dtype": "uint8", |
| "encodingFormat": "png" |
| }, |
| "description": "Main camera RGB observation." |
| } |
| } |
| } |
| }, |
| "action": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| }, |
| "dtype": "float32", |
| "encoding": "none" |
| }, |
| "description": "Robot action, consists of [x, y, z, ax, ay, az, gripper]." |
| }, |
| "dataset_name": { |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", |
| "text": {}, |
| "description": "Language Instruction." |
| }, |
| "task": { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "language_instruction": { |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", |
| "text": {}, |
| "description": "Language Instruction." |
| } |
| } |
| } |
| } |
| } |
| } |
| }, |
| "length": "-1" |
| } |
| }, |
| "episode_metadata": { |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", |
| "featuresDict": { |
| "features": { |
| "file_path": { |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", |
| "text": {}, |
| "description": "Path to the original data file." |
| } |
| } |
| } |
| } |
| } |
| } |
| } |
