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Datasets:
EricsXt
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Xlang-Embodied-dataset

Tags:
EmbodiedAI
Robot
RealworldData
OXEdata
License:
Dataset card Files
xet
Community
XinTong Hu commited on
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Upload utaustin_mutex/features.json with huggingface_hub

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utaustin_mutex/features.json ADDED
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+ {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "episode_metadata": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "file_path": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Path to the original data file."
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+ }
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+ }
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+ }
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+ },
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+ "steps": {
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+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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+ "sequence": {
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+ "feature": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "is_first": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot action, consists of [6x end effector delta pose, 1x gripper position]"
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+ },
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+ "reward": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Reward if provided, 1 on final step for demos."
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+ },
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+ "language_instruction": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Detailed Language Instructions for each task."
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+ },
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+ "language_embedding": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "512"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
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+ },
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+ "discount": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Discount if provided, default to 1."
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+ },
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+ "is_terminal": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "is_last": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "observation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "wrist_image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "128",
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+ "128",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "png"
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+ },
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+ "description": "Wrist camera RGB observation."
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+ },
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+ "state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "24"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot state, consists of [7x robot joint angles, 1x gripper position, 16x robot end-effector homogeneous matrix]."
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+ },
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+ "image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "128",
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+ "128",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "png"
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+ },
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+ "description": "Main camera RGB observation."
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
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+ },
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+ "length": "-1"
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+ }
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+ }
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+ }
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+ }
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+ }