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The TensorFlow Datasets Authors
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Automated documentation update.
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‎docs/catalog/_toc.yaml

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title: nyu_franka_play_dataset_converted_externally_to_rlds
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- path: /datasets/catalog/nyu_rot_dataset_converted_externally_to_rlds
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title: nyu_rot_dataset_converted_externally_to_rlds
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- path: /datasets/catalog/plex_robosuite
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status: nightly
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title: plex_robosuite
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- path: /datasets/catalog/robo_set
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status: nightly
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title: robo_set
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- path: /datasets/catalog/roboturk
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title: roboturk
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- path: /datasets/catalog/spoc
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status: nightly
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title: spoc
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- path: /datasets/catalog/stanford_hydra_dataset_converted_externally_to_rlds
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title: stanford_hydra_dataset_converted_externally_to_rlds
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- path: /datasets/catalog/stanford_kuka_multimodal_dataset_converted_externally_to_rlds

‎docs/catalog/overview.md

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* [`nyu_door_opening_surprising_effectiveness`](nyu_door_opening_surprising_effectiveness.md)
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* [`nyu_franka_play_dataset_converted_externally_to_rlds`](nyu_franka_play_dataset_converted_externally_to_rlds.md)
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* [`nyu_rot_dataset_converted_externally_to_rlds`](nyu_rot_dataset_converted_externally_to_rlds.md)
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* [`plex_robosuite`](plex_robosuite.md)
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<span class="material-icons" title="Available only in the tfds-nightly package">nights_stay</span>
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* [`robo_set`](robo_set.md)
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<span class="material-icons" title="Available only in the tfds-nightly package">nights_stay</span>
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* [`roboturk`](roboturk.md)
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* [`spoc`](spoc.md)
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<span class="material-icons" title="Available only in the tfds-nightly package">nights_stay</span>
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* [`stanford_hydra_dataset_converted_externally_to_rlds`](stanford_hydra_dataset_converted_externally_to_rlds.md)
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* [`stanford_kuka_multimodal_dataset_converted_externally_to_rlds`](stanford_kuka_multimodal_dataset_converted_externally_to_rlds.md)
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* [`stanford_mask_vit_converted_externally_to_rlds`](stanford_mask_vit_converted_externally_to_rlds.md)

‎docs/catalog/plex_robosuite.md

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<div itemscope itemtype="http://schema.org/Dataset">
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<div itemscope itemprop="includedInDataCatalog" itemtype="http://schema.org/DataCatalog">
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<meta itemprop="name" content="TensorFlow Datasets" />
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</div>
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<meta itemprop="name" content="plex_robosuite" />
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<meta itemprop="description" content="A dataset of high-qualty demonstration trajectories for Robosuite&#x27;s Door, Stack, PickPlaceMilk, PickPlaceBread, PickPlaceCereal, and NutAssemblyRound tasks, 75 demonstrations per each.&#10;&#10;To use this dataset:&#10;&#10;```python&#10;import tensorflow_datasets as tfds&#10;&#10;ds = tfds.load(&#x27;plex_robosuite&#x27;, split=&#x27;train&#x27;)&#10;for ex in ds.take(4):&#10; print(ex)&#10;```&#10;&#10;See [the guide](https://www.tensorflow.org/datasets/overview) for more&#10;informations on [tensorflow_datasets](https://www.tensorflow.org/datasets).&#10;&#10;" />
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<meta itemprop="url" content="https://www.tensorflow.org/datasets/catalog/plex_robosuite" />
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<meta itemprop="sameAs" content="https://microsoft.github.io/PLEX/" />
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<meta itemprop="citation" content="https://doi.org/10.48550/arXiv.2303.08789" />
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</div>
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# `plex_robosuite`
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Note: This dataset was added recently and is only available in our
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`tfds-nightly` package
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<span class="material-icons" title="Available only in the tfds-nightly package">nights_stay</span>.
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* **Description**:
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A dataset of high-qualty demonstration trajectories for Robosuite's Door, Stack,
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PickPlaceMilk, PickPlaceBread, PickPlaceCereal, and NutAssemblyRound tasks, 75
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demonstrations per each.
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* **Homepage**:
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[https://microsoft.github.io/PLEX/](https://microsoft.github.io/PLEX/)
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* **Source code**:
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[`tfds.robotics.rtx.PlexRobosuite`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/robotics/rtx/rtx.py)
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* **Versions**:
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* **`0.1.0`** (default): Initial release.
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* **Download size**: `Unknown size`
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* **Dataset size**: `Unknown size`
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* **Auto-cached**
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([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
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Unknown
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* **Splits**:
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Split | Examples
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:---- | -------:
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* **Feature structure**:
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```python
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FeaturesDict({
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'episode_metadata': FeaturesDict({
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'episode_id': string,
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}),
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'steps': Dataset({
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'action': Tensor(shape=(7,), dtype=float64),
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'discount': Scalar(shape=(), dtype=float32),
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'is_first': bool,
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'is_last': bool,
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'is_terminal': bool,
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'language_embedding': Tensor(shape=(512,), dtype=float32),
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'language_instruction': string,
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'observation': FeaturesDict({
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'image': Image(shape=(128, 128, 3), dtype=uint8),
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'state': Tensor(shape=(32,), dtype=float64),
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'wrist_image': Image(shape=(128, 128, 3), dtype=uint8),
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}),
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'reward': Scalar(shape=(), dtype=float32),
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}),
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})
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```
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* **Feature documentation**:
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Feature | Class | Shape | Dtype | Description
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:---------------------------- | :----------- | :------------ | :------ | :----------
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| FeaturesDict | | |
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episode_metadata | FeaturesDict | | |
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episode_metadata/episode_id | Tensor | | string |
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steps | Dataset | | |
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steps/action | Tensor | (7,) | float64 |
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steps/discount | Scalar | | float32 |
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steps/is_first | Tensor | | bool |
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steps/is_last | Tensor | | bool |
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steps/is_terminal | Tensor | | bool |
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steps/language_embedding | Tensor | (512,) | float32 |
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steps/language_instruction | Tensor | | string |
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steps/observation | FeaturesDict | | |
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steps/observation/image | Image | (128, 128, 3) | uint8 |
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steps/observation/state | Tensor | (32,) | float64 |
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steps/observation/wrist_image | Image | (128, 128, 3) | uint8 |
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steps/reward | Scalar | | float32 |
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* **Supervised keys** (See
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[`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):
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`None`
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* **Figure**
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([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):
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Not supported.
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* **Examples**
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([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):
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Missing.
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* **Citation**:
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```
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https://doi.org/10.48550/arXiv.2303.08789
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```
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‎docs/catalog/spoc.md

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<div itemscope itemtype="http://schema.org/Dataset">
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<div itemscope itemprop="includedInDataCatalog" itemtype="http://schema.org/DataCatalog">
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<meta itemprop="name" content="TensorFlow Datasets" />
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</div>
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<meta itemprop="name" content="spoc" />
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<meta itemprop="description" content="&#10;&#10;To use this dataset:&#10;&#10;```python&#10;import tensorflow_datasets as tfds&#10;&#10;ds = tfds.load(&#x27;spoc&#x27;, split=&#x27;train&#x27;)&#10;for ex in ds.take(4):&#10; print(ex)&#10;```&#10;&#10;See [the guide](https://www.tensorflow.org/datasets/overview) for more&#10;informations on [tensorflow_datasets](https://www.tensorflow.org/datasets).&#10;&#10;" />
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<meta itemprop="url" content="https://www.tensorflow.org/datasets/catalog/spoc" />
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<meta itemprop="sameAs" content="https://spoc-robot.github.io/" />
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<meta itemprop="citation" content="@article{spoc2023,&#10; author = {Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Kuo-Hao Zeng, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, Ranjay Krishna, Dustin Schwenk, Eli VanderBilt, Aniruddha Kembhavi},&#10; title = {Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World},&#10; journal = {arXiv},&#10; year = {2023},&#10; eprint = {2312.02976},&#10;}" />
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</div>
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# `spoc`
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Note: This dataset was added recently and is only available in our
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`tfds-nightly` package
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<span class="material-icons" title="Available only in the tfds-nightly package">nights_stay</span>.
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* **Description**:
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* **Homepage**: [https://spoc-robot.github.io/](https://spoc-robot.github.io/)
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* **Source code**:
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[`tfds.robotics.rtx.Spoc`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/robotics/rtx/rtx.py)
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* **Versions**:
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* **`0.1.0`** (default): Initial release.
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* **Download size**: `Unknown size`
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* **Dataset size**: `Unknown size`
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* **Auto-cached**
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([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
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Unknown
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* **Splits**:
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Split | Examples
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:---- | -------:
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* **Feature structure**:
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```python
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FeaturesDict({
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'episode_metadata': FeaturesDict({
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'file_path': string,
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'task_target_split': string,
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'task_type': string,
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}),
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'steps': Dataset({
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'action': Tensor(shape=(9,), dtype=float32),
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'discount': Scalar(shape=(), dtype=float32),
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'is_first': bool,
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'is_last': bool,
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'is_terminal': bool,
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'language_instruction': string,
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'observation': FeaturesDict({
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'an_object_is_in_hand': Scalar(shape=(), dtype=bool),
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'house_index': Scalar(shape=(), dtype=int64),
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'hypothetical_task_success': Scalar(shape=(), dtype=bool),
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'image': Image(shape=(224, 384, 3), dtype=uint8),
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'image_manipulation': Image(shape=(224, 384, 3), dtype=uint8),
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'last_action_is_random': Scalar(shape=(), dtype=bool),
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'last_action_str': string,
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'last_action_success': Scalar(shape=(), dtype=bool),
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'last_agent_location': Tensor(shape=(6,), dtype=float32),
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'manip_object_bbox': Tensor(shape=(10,), dtype=float32),
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'minimum_l2_target_distance': Scalar(shape=(), dtype=float32),
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'minimum_visible_target_alignment': Scalar(shape=(), dtype=float32),
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'nav_object_bbox': Tensor(shape=(10,), dtype=float32),
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'relative_arm_location_metadata': Tensor(shape=(4,), dtype=float32),
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'room_current_seen': Scalar(shape=(), dtype=bool),
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'rooms_seen': Scalar(shape=(), dtype=int64),
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'visible_target_4m_count': Scalar(shape=(), dtype=int64),
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}),
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'reward': Scalar(shape=(), dtype=float32),
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}),
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})
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```
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* **Feature documentation**:
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Feature | Class | Shape | Dtype | Description
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:------------------------------------------------- | :----------- | :------------ | :------ | :----------
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| FeaturesDict | | |
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episode_metadata | FeaturesDict | | |
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episode_metadata/file_path | Tensor | | string |
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episode_metadata/task_target_split | Tensor | | string |
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episode_metadata/task_type | Tensor | | string |
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steps | Dataset | | |
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steps/action | Tensor | (9,) | float32 |
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steps/discount | Scalar | | float32 |
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steps/is_first | Tensor | | bool |
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steps/is_last | Tensor | | bool |
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steps/is_terminal | Tensor | | bool |
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steps/language_instruction | Tensor | | string |
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steps/observation | FeaturesDict | | |
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steps/observation/an_object_is_in_hand | Scalar | | bool |
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steps/observation/house_index | Scalar | | int64 |
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steps/observation/hypothetical_task_success | Scalar | | bool |
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steps/observation/image | Image | (224, 384, 3) | uint8 |
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steps/observation/image_manipulation | Image | (224, 384, 3) | uint8 |
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steps/observation/last_action_is_random | Scalar | | bool |
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steps/observation/last_action_str | Tensor | | string |
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steps/observation/last_action_success | Scalar | | bool |
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steps/observation/last_agent_location | Tensor | (6,) | float32 |
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steps/observation/manip_object_bbox | Tensor | (10,) | float32 |
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steps/observation/minimum_l2_target_distance | Scalar | | float32 |
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steps/observation/minimum_visible_target_alignment | Scalar | | float32 |
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steps/observation/nav_object_bbox | Tensor | (10,) | float32 |
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steps/observation/relative_arm_location_metadata | Tensor | (4,) | float32 |
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steps/observation/room_current_seen | Scalar | | bool |
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steps/observation/rooms_seen | Scalar | | int64 |
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steps/observation/visible_target_4m_count | Scalar | | int64 |
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steps/reward | Scalar | | float32 |
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* **Supervised keys** (See
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[`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):
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`None`
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* **Figure**
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([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):
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Not supported.
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* **Examples**
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([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):
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Missing.
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* **Citation**:
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```
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@article{spoc2023,
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author = {Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Kuo-Hao Zeng, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, Ranjay Krishna, Dustin Schwenk, Eli VanderBilt, Aniruddha Kembhavi},
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title = {Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World},
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journal = {arXiv},
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year = {2023},
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eprint = {2312.02976},
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}
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```
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