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.gitattributes

@@ -57,3 +57,19 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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1.0.0/README.MD

@@ -0,0 +1,10 @@
+Dataset with joint state play data for a toy kitchen. 
+The dataset contains 20 different tasks with two static cameras. 
+
+@inproceedings{
+    reuss2024multimodal,
+    title={Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals},
+    author={Moritz Reuss and {\"O}mer Erdin{\c{c}} Ya{\u{g}}murlu and Fabian Wenzel and Rudolf Lioutikov},
+    booktitle={Robotics: Science and Systems},
+    year={2024}
+}

1.0.0/dataset_info.json

@@ -0,0 +1,36 @@
+{
+  "citation": "// TODO(example_dataset): BibTeX citation",
+  "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": "kit_irl_real_kitchen_lang.kit_irl_real_kitchen_lang",
+  "name": "kit_irl_real_kitchen_lang",
+  "releaseNotes": {
+    "1.0.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "1555997050",
+      "shardLengths": [
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "27",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26",
+        "26"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}

1.0.0/dataset_statistics_cfcf3bdcc3f95b1d539a24749ade2a7e36ff0ba1e66407e4610cdaa129e4c10f.json

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+{"action": {"mean": [0.2703530788421631, 0.1182452067732811, 0.35498133301734924, -1.5729808807373047, -0.5235288739204407, 1.9427248239517212, -1.5018268823623657, 0.5981078743934631], "std": [0.12345685809850693, 0.3061469495296478, 0.27789995074272156, 0.4563933312892914, 0.5890739560127258, 0.30609846115112305, 0.44644784927368164, 0.4899592697620392], "max": [0.6685911417007446, 1.0151987075805664, 1.3512533903121948, -0.3098829984664917, 0.15463855862617493, 3.230781078338623, 0.4125751256942749, 1.0], "min": [-0.4728304147720337, -0.9769639372825623, -0.3555123209953308, -2.877141237258911, -2.5706896781921387, 0.6824776530265808, -2.8376104831695557, 0.0], "p99": [0.5422249287366867, 0.8028479218482971, 1.0687870979309082, -0.9487988352775574, 0.06975962594151497, 2.624782383441925, -0.49846622347831726, 1.0], "p01": [-0.08110086619853973, -0.6993335634469986, -0.17626342177391052, -2.7020722031593323, -2.432827055454254, 1.232361376285553, -2.728285014629364, 0.0]}, "num_transitions": 25276, "num_trajectories": 417, "proprio": {"mean": [0.2709193229675293, 0.12117421627044678, 0.3550775647163391, -1.576100468635559, -0.5228900909423828, 1.9408499002456665, -1.5027081966400146, 0.5981078743934631], "std": [0.12378045171499252, 0.30774423480033875, 0.27788597345352173, 0.456500381231308, 0.5882568955421448, 0.304630309343338, 0.4435570538043976, 0.4899592697620392], "max": [0.6807584166526794, 1.02162504196167, 1.3513909578323364, -0.3086922764778137, 0.14923511445522308, 3.2253408432006836, 0.4084588587284088, 1.0], "min": [-0.472444623708725, -0.9860996603965759, -0.3634328246116638, -2.8732833862304688, -2.5652005672454834, 0.6849313974380493, -2.787592887878418, 0.0], "p99": [0.5407610535621643, 0.807393342256546, 1.0714323222637177, -0.9510097801685333, 0.0711765754967928, 2.6280637383461, -0.5043639838695526, 1.0], "p01": [-0.08156387694180012, -0.7015249878168106, -0.17795844748616219, -2.704028069972992, -2.4300113916397095, 1.2408689856529236, -2.723939895629883, 0.0]}}

1.0.0/features.json

@@ -0,0 +1,291 @@
+{
+    "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": {
+                                "action_abs": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Absolute robot action, consists of [3x delta_end_effector_pos, 3x delta_end_effector_ori (euler: roll, pitch, yaw), 1x des_gripper_width]."
+                                },
+                                "action_joint_state": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action in joint space, consists of [7x joint states]"
+                                },
+                                "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."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on last step of the episode."
+                                },
+                                "language_instruction_3": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "end_effector_ori": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Current End Effector orientation in Cartesian space as Euler (xyz)"
+                                            },
+                                            "image_top": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "250",
+                                                            "250",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Main camera RGB observation."
+                                            },
+                                            "end_effector_ori_quat": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "4"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Current End Effector orientation in Cartesian space as Quaternion"
+                                            },
+                                            "end_effector_pos": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Current End Effector position in Cartesian space"
+                                            },
+                                            "joint_state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot joint state. Consists of [7x joint states]"
+                                            },
+                                            "image_side": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "250",
+                                                            "250",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Wrist camera RGB observation."
+                                            },
+                                            "joint_state_velocity": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot joint velocities. Consists of [7x joint velocities]"
+                                            }
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "action_joint_vel": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action in joint space, consists of [7x joint velocities]"
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                },
+                                "language_embedding": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "3",
+                                                "512"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
+                                },
+                                "language_instruction_2": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on first step of the episode."
+                                },
+                                "action_gripper_width": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Desired gripper width, consists of [1x gripper width] in range [0, 1]"
+                                },
+                                "delta_des_joint_state": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Delta robot action in joint space, consists of [7x joint states]"
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Delta robot action, consists of [3x delta_end_effector_pos, 3x delta_end_effector_ori (euler: roll, pitch, yaw), 1x des_gripper_width]."
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            },
+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                "featuresDict": {
+                    "features": {
+                        "traj_length": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "float64",
+                                "encoding": "none"
+                            },
+                            "description": "Number of samples in trajectorie"
+                        },
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

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