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fractal20220817_data

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  license: cc-by-4.0
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  ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
  ---
2
  license: cc-by-4.0
3
  ---
4
+ # Fractal20220817 Dataset
5
+
6
+ The **[Fractal20220817](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)** dataset is provided in **RLDS format** and contains monocular depth annotations generated using **[Video-Depth-Anything](https://github.com/DepthAnything/Video-Depth-Anything)**.
7
+
8
+ - **Format**: RLDS
9
+ - **Depth Annotation method**: Video-Depth-Anything (monocular depth estimation)
10
+ - **Total size**: 144 GB
11
+
12
+ feature.json
13
+ ```json
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+ {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "attributes": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "collection_mode_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "collection_mode": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "task_family_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "location_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "env_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "env": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "objects_family_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "data_type": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "objects_family": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "location": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "task_family": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "int64",
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+ "encoding": "none"
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+ }
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+ },
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+ "data_type_name": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ }
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+ }
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+ }
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+ },
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+ "aspects": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "feasible": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "success": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "undesirable": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "already_success": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "has_aspects": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ }
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+ }
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+ },
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+ "description": "Session Aspects for crowdcompute ratings"
168
+ },
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+ "steps": {
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+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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+ "sequence": {
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+ "feature": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "is_terminal": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "is_first": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ }
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+ },
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+ "action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "gripper_closedness_action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "1"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "continuous gripper position"
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+ },
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+ "terminate_episode": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3"
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+ ]
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+ },
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+ "dtype": "int32",
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+ "encoding": "none"
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+ }
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+ },
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+ "base_displacement_vector": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "2"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "rotation_delta": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "rpy commanded orientation displacement, in base-relative frame"
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+ },
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+ "base_displacement_vertical_rotation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "1"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "world_vector": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3"
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+ ]
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+ },
266
+ "dtype": "float32",
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+ "encoding": "none"
268
+ },
269
+ "description": "commanded end-effector displacement, in base-relative frame"
270
+ }
271
+ }
272
+ }
273
+ },
274
+ "reward": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "observation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "rotation_delta_to_go": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3"
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+ ]
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+ },
294
+ "dtype": "float32",
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+ "encoding": "none"
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+ },
297
+ "description": "rotational displacement from current orientation to target"
298
+ },
299
+ "orientation_start": {
300
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "4"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "height_to_bottom": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "1"
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+ ]
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+ },
319
+ "dtype": "float32",
320
+ "encoding": "none"
321
+ },
322
+ "description": "height of end-effector from ground"
323
+ },
324
+ "natural_language_instruction": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
326
+ "tensor": {
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+ "shape": {},
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+ "dtype": "string",
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+ "encoding": "none"
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+ }
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+ },
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+ "natural_language_embedding": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "512"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "workspace_bounds": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3",
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+ "3"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
357
+ "robot_orientation_positions_box": {
358
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "3"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ }
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+ },
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+ "gripper_closedness_commanded": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "1"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "continuous gripper position"
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+ },
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+ "base_pose_tool_reached": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "end-effector base-relative position+quaternion pose"
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+ },
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+ "vector_to_go": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "3"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "displacement from current end-effector position to target"
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+ },
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+ "src_rotation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ ]
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+ },
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+ }
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+ },
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+ "gripper_closed": {
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+ "tensor": {
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+ ]
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+ "encoding": "none"
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+ }
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+ },
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+ "image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "3"
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+ ]
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+ },
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+ "encodingFormat": "jpeg"
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+ }
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+ },
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+ "image_depth": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "3"
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+ ]
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+ },
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+ "encodingFormat": "jpeg"
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+ }
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+ },
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+ "orientation_box": {
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+ ]
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+ "encoding": "none"
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+ }
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+ }
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+ },
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+ "is_last": {
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+ }
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+ }
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+ }
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+ }
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+ },
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+ "length": "-1"
489
+ }
490
+ }
491
+ }
492
+ }
493
+ }
494
+ ```