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dataset_info.json

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+{
+  "citation": "@inproceedings{padalkar2023guiding,\n  title={Guiding Reinforcement Learning with Shared Control Templates},\n  author={Padalkar, Abhishek and Quere, Gabriel and Steinmetz, Franz and Raffin, Antonin and Nieuwenhuisen, Matthias and Silv{\\'e}rio, Jo{\\~a}o and Stulp, Freek},\n  booktitle={40th IEEE International Conference on Robotics and Automation, ICRA 2023},\n  year={2023},\n  organization={IEEE}\n}",
+  "description": "pouring liquid from a bottle into a mug",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://elib.dlr.de/193739/1/padalkar2023rlsct.pdf"
+    ]
+  },
+  "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
+  "name": "dlr_sara_pour_converted_externally_to_rlds",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "3138354739",
+      "shardLengths": [
+        "4",
+        "3",
+        "1",
+        "4",
+        "2",
+        "5",
+        "8",
+        "4",
+        "7",
+        "2",
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+        "5",
+        "3",
+        "3",
+        "5"
+      ]
+    }
+  ],
+  "version": "0.1.0"
+}

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features.json

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+{
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "featuresDict": {
+                    "features": {
+                        "file_path": {
+                            "description": "Path to the original data file.",
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {}
+                        }
+                    }
+                },
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+            },
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "featuresDict": {
+                            "features": {
+                                "action": {
+                                    "description": "Robot action, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(=\"zxy\") Class].",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "description": "Discount if provided, default to 1.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "language_embedding": {
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "description": "Pour into the mug.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {}
+                                },
+                                "observation": {
+                                    "featuresDict": {
+                                        "features": {
+                                            "image": {
+                                                "description": "Main camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "480",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "state": {
+                                                "description": "Robot state, consists of [3x robot EEF position, 3x robot EEF orientation yaw/pitch/roll calculated with scipy Rotation.as_euler(=\"zxy\") Class].",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    }
+                                                }
+                                            }
+                                        }
+                                    },
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                                },
+                                "reward": {
+                                    "description": "Reward if provided, 1 on final step for demos.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                }
+                            }
+                        },
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                    },
+                    "length": "-1"
+                }
+            }
+        }
+    },
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+}