diff --git a/.gitattributes b/.gitattributes index 55cab133643a2a73e083373d2106533678d0edd5..24bce77793a91a2eabd9151a8349e74b2b103070 100644 --- a/.gitattributes +++ b/.gitattributes @@ -56,3 +56,4 @@ 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 +*.tfrecord* filter=lfs diff=lfs merge=lfs -text diff --git a/libero_10_no_noops/1.0.0/dataset_info.json b/libero_10_no_noops/1.0.0/dataset_info.json new file mode 100644 index 0000000000000000000000000000000000000000..55415bde7be4a313b0cf3751cff6b3c607dce959 --- /dev/null +++ b/libero_10_no_noops/1.0.0/dataset_info.json @@ -0,0 +1,52 @@ +{ + "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": "LIBERO_10.LIBERO_10_dataset_builder", + "name": "liber_o10", + "releaseNotes": { + "1.0.0": "Initial release." + }, + "splits": [ + { + "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", + "name": "train", + "numBytes": "3656799026", + "shardLengths": [ + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12" + ] + } + ], + "version": "1.0.0" +} \ No newline at end of file diff --git a/libero_10_no_noops/1.0.0/features.json b/libero_10_no_noops/1.0.0/features.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c8abcf90cb16a51b2e7900f4bdbdafa0566816 --- /dev/null +++ b/libero_10_no_noops/1.0.0/features.json @@ -0,0 +1,158 @@ +{ + "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": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "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": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "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." + } + } + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "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_10_no_noops/1.0.0/liber_o10-train.tfrecord-00000-of-00032 b/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00000-of-00032 new file mode 100644 index 0000000000000000000000000000000000000000..3584534087a673e07323122cb488be69ec659255 --- /dev/null +++ b/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00000-of-00032 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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"14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14" + ] + } + ], + "version": "1.0.0" +} \ No newline at end of file diff --git a/libero_object_no_noops/1.0.0/features.json b/libero_object_no_noops/1.0.0/features.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c8abcf90cb16a51b2e7900f4bdbdafa0566816 --- /dev/null +++ b/libero_object_no_noops/1.0.0/features.json @@ -0,0 +1,158 @@ +{ + "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": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "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": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "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." + } + } + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "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 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