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a/libero_trajid_rlds/libero_10_no_noops/1.0.0/dataset_info.json b/libero_trajid_rlds/libero_10_no_noops/1.0.0/dataset_info.json new file mode 100644 index 0000000000000000000000000000000000000000..80b2e29ff387deb50e1a5ebac0d00bb696f9bddf --- /dev/null +++ b/libero_trajid_rlds/libero_10_no_noops/1.0.0/dataset_info.json @@ -0,0 +1,48 @@ +{ + "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):", + "fileFormat": "tfrecord", + "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder", + "name": "libero_10_no_noops", + "splits": [ + { + "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", + "name": "train", + "numBytes": "3672825248", + "shardLengths": [ + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + 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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "traj_id": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "int16", + "encoding": "none" + }, + "description": "Global Trajectory ID" + }, + "steps": { + "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", + "sequence": { + "feature": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "action": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode." + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Wrist camera RGB observation." + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Main camera RGB observation." + }, + "state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "8" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF state (6D pose, 2D gripper)." + }, + "joint_state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot joint angles." + } + } + } + }, + "language_instruction": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode if it is a terminal step, True for demos." + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Reward if provided, 1 on final step for demos." + } + } + } + }, + "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." + } + } + } + } + } + } +} \ No newline at end of file diff --git a/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00000-of-00016 b/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00000-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..100577f7124049b874e4ba5a7a19cd140ef37df8 --- /dev/null +++ b/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00000-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1230888e22a2c87ebe784279ab8422dcf1dcb95862f4a016c8b444d044053171 +size 110411404 diff --git a/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00001-of-00016 b/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00001-of-00016 new file mode 100644 index 0000000000000000000000000000000000000000..70ad8a0e1a1b231df233a87fadfb9b16c41fc721 --- /dev/null +++ b/libero_trajid_rlds/libero_goal_no_noops/1.0.0/libero_goal_no_noops-train.tfrecord-00001-of-00016 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5ab8e1fea498c11e90c8114297b6d0d0166e4d4b76c6e7f22209b7f7bbbf378 +size 123321600 diff --git 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processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):", + "fileFormat": "tfrecord", + "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder", + "name": "libero_object_no_noops", + "splits": [ + { + "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", + "name": "train", + "numBytes": "2828716987", + "shardLengths": [ + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14" + ] + } + ], + "version": "1.0.0" +} \ No newline at end of file diff --git a/libero_trajid_rlds/libero_object_no_noops/1.0.0/dataset_statistics_63cf3f97b36d3cb12eb81d9086deb2c95d21cdbe754888841e8ef07cac310740.json b/libero_trajid_rlds/libero_object_no_noops/1.0.0/dataset_statistics_63cf3f97b36d3cb12eb81d9086deb2c95d21cdbe754888841e8ef07cac310740.json new file mode 100644 index 0000000000000000000000000000000000000000..f59b726fd1ae8dfb53656e57bc8605980f24104b --- /dev/null +++ b/libero_trajid_rlds/libero_object_no_noops/1.0.0/dataset_statistics_63cf3f97b36d3cb12eb81d9086deb2c95d21cdbe754888841e8ef07cac310740.json @@ -0,0 +1 @@ +{"action": {"mean": [0.07096568495035172, 0.1349889636039734, -0.04601386934518814, 0.0012351995101198554, 0.00699881324544549, -0.015027610585093498, 0.46428999304771423], "std": [0.26812487840652466, 0.4384647309780121, 0.4474967122077942, 0.0244474895298481, 0.04935600236058235, 0.0421077199280262, 0.498790979385376], "max": [0.9375, 0.8919642567634583, 0.9375, 0.17678570747375488, 0.35035714507102966, 0.1810714304447174, 1.0], "min": [-0.8839285969734192, -0.9375, -0.9375, -0.15000000596046448, -0.29035714268684387, -0.32892856001853943, 0.0], "q01": [-0.5383928418159485, -0.8758928775787354, -0.9375, -0.06964285671710968, -0.11678571254014969, -0.15964286029338837, 0.0], "q99": [0.8464285731315613, 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"q99": [0.09063626825809479, 0.29066365867853167, 0.3370887073874472, 3.2611824750900267, 0.32092821151018125, 0.4037663781642913, 0.039891827926039694, -0.009106044843792932]}, "num_transitions": 66984, "num_trajectories": 454} \ No newline at end of file diff --git a/libero_trajid_rlds/libero_object_no_noops/1.0.0/features.json b/libero_trajid_rlds/libero_object_no_noops/1.0.0/features.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3b2dae315fffdd7bb8850b3f13e5f631a41c11 --- /dev/null +++ b/libero_trajid_rlds/libero_object_no_noops/1.0.0/features.json @@ -0,0 +1,167 @@ +{ + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "traj_id": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "int16", + "encoding": "none" + }, + "description": "Global Trajectory ID" + }, + "steps": { + "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", + "sequence": { + "feature": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "action": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode." + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Wrist camera RGB observation." + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Main camera RGB observation." + }, + "state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "8" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF state (6D pose, 2D gripper)." + }, + "joint_state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot joint angles." + } + } + } + }, + "language_instruction": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode if it is a terminal step, True for demos." + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Reward if provided, 1 on final step for demos." + } + } + } + }, + "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." + } + } + } + } + } + } +} \ No newline at end of file diff --git a/libero_trajid_rlds/libero_object_no_noops/1.0.0/libero_object_no_noops-train.tfrecord-00000-of-00032 b/libero_trajid_rlds/libero_object_no_noops/1.0.0/libero_object_no_noops-train.tfrecord-00000-of-00032 new file mode 100644 index 0000000000000000000000000000000000000000..ac81aecd6a96f1d64006f6a602f58421149933b7 --- /dev/null +++ b/libero_trajid_rlds/libero_object_no_noops/1.0.0/libero_object_no_noops-train.tfrecord-00000-of-00032 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:749f2376480e2b5a5f9aa733e981e090e50a8b290f15f5e0e8f782ac66630e8f +size 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"num_transitions": 52970, "num_trajectories": 432} \ No newline at end of file diff --git a/libero_trajid_rlds/libero_spatial_no_noops/1.0.0/features.json b/libero_trajid_rlds/libero_spatial_no_noops/1.0.0/features.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3b2dae315fffdd7bb8850b3f13e5f631a41c11 --- /dev/null +++ b/libero_trajid_rlds/libero_spatial_no_noops/1.0.0/features.json @@ -0,0 +1,167 @@ +{ + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "traj_id": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "int16", + "encoding": "none" + }, + "description": "Global Trajectory ID" + }, + "steps": { + "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", + "sequence": { + "feature": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "action": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode." + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "observation": { + "pythonClassName": 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