{ "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 x,y,z goal and picker commandpicker<0.5 = open, picker>0.5 = close.", "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", "tensor": { "dtype": "float32", "encoding": "none", "shape": { "dimensions": [ "4" ] } } }, "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": "Language Instruction.", "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", "text": {} }, "observation": { "featuresDict": { "features": { "image": { "description": "Image observation of cloth.", "image": { "dtype": "uint8", "encodingFormat": "png", "shape": { "dimensions": [ "32", "32", "3" ] } }, "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" } } }, "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" }, "reward": { "description": "Reward as a normalized performance metric in [0, 1].0 = no change from initial state. 1 = perfect fold.-ve performance means the cloth is worse off than initial state.", "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" }