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- .gitattributes +128 -0
- dataset_info.json +149 -0
- features.json +158 -0
- libero_decomposed_progress-train.tfrecord-00000-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00001-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00002-of-00128 +3 -0
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- libero_decomposed_progress-train.tfrecord-00009-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00010-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00011-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00012-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00013-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00014-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00015-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00016-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00017-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00018-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00019-of-00128 +3 -0
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- libero_decomposed_progress-train.tfrecord-00021-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00022-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00023-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00024-of-00128 +3 -0
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- libero_decomposed_progress-train.tfrecord-00031-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00032-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00033-of-00128 +3 -0
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- libero_decomposed_progress-train.tfrecord-00044-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00045-of-00128 +3 -0
- libero_decomposed_progress-train.tfrecord-00046-of-00128 +3 -0
.gitattributes
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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libero_decomposed_progress-train.tfrecord-00113-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 175 |
+
libero_decomposed_progress-train.tfrecord-00114-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 176 |
+
libero_decomposed_progress-train.tfrecord-00115-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 177 |
+
libero_decomposed_progress-train.tfrecord-00116-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 178 |
+
libero_decomposed_progress-train.tfrecord-00117-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 179 |
+
libero_decomposed_progress-train.tfrecord-00118-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 180 |
+
libero_decomposed_progress-train.tfrecord-00119-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 181 |
+
libero_decomposed_progress-train.tfrecord-00120-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 182 |
+
libero_decomposed_progress-train.tfrecord-00121-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 183 |
+
libero_decomposed_progress-train.tfrecord-00122-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 184 |
+
libero_decomposed_progress-train.tfrecord-00123-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 185 |
+
libero_decomposed_progress-train.tfrecord-00124-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 186 |
+
libero_decomposed_progress-train.tfrecord-00125-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 187 |
+
libero_decomposed_progress-train.tfrecord-00126-of-00128 filter=lfs diff=lfs merge=lfs -text
|
| 188 |
+
libero_decomposed_progress-train.tfrecord-00127-of-00128 filter=lfs diff=lfs merge=lfs -text
|
dataset_info.json
ADDED
|
@@ -0,0 +1,149 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"citation": "// TODO(example_dataset): BibTeX citation",
|
| 3 |
+
"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,...):",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"moduleName": "LIBERO_Decomposed_Progress.LIBERO_Decomposed_Progress_dataset_builder",
|
| 6 |
+
"name": "libero_decomposed_progress",
|
| 7 |
+
"releaseNotes": {
|
| 8 |
+
"1.0.0": "Initial release combining all 4 LIBERO suites with subtask decomposition.",
|
| 9 |
+
"1.1.0": "is_terminal changed from bool to float progress (0..1]."
|
| 10 |
+
},
|
| 11 |
+
"splits": [
|
| 12 |
+
{
|
| 13 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 14 |
+
"name": "train",
|
| 15 |
+
"numBytes": "12260729271",
|
| 16 |
+
"shardLengths": [
|
| 17 |
+
"61",
|
| 18 |
+
"60",
|
| 19 |
+
"61",
|
| 20 |
+
"61",
|
| 21 |
+
"60",
|
| 22 |
+
"61",
|
| 23 |
+
"60",
|
| 24 |
+
"61",
|
| 25 |
+
"61",
|
| 26 |
+
"60",
|
| 27 |
+
"61",
|
| 28 |
+
"61",
|
| 29 |
+
"60",
|
| 30 |
+
"61",
|
| 31 |
+
"60",
|
| 32 |
+
"61",
|
| 33 |
+
"61",
|
| 34 |
+
"60",
|
| 35 |
+
"61",
|
| 36 |
+
"61",
|
| 37 |
+
"60",
|
| 38 |
+
"61",
|
| 39 |
+
"61",
|
| 40 |
+
"60",
|
| 41 |
+
"61",
|
| 42 |
+
"60",
|
| 43 |
+
"61",
|
| 44 |
+
"61",
|
| 45 |
+
"60",
|
| 46 |
+
"61",
|
| 47 |
+
"61",
|
| 48 |
+
"60",
|
| 49 |
+
"61",
|
| 50 |
+
"61",
|
| 51 |
+
"60",
|
| 52 |
+
"61",
|
| 53 |
+
"60",
|
| 54 |
+
"61",
|
| 55 |
+
"61",
|
| 56 |
+
"60",
|
| 57 |
+
"61",
|
| 58 |
+
"61",
|
| 59 |
+
"60",
|
| 60 |
+
"61",
|
| 61 |
+
"60",
|
| 62 |
+
"61",
|
| 63 |
+
"61",
|
| 64 |
+
"60",
|
| 65 |
+
"61",
|
| 66 |
+
"61",
|
| 67 |
+
"60",
|
| 68 |
+
"61",
|
| 69 |
+
"61",
|
| 70 |
+
"60",
|
| 71 |
+
"61",
|
| 72 |
+
"60",
|
| 73 |
+
"61",
|
| 74 |
+
"61",
|
| 75 |
+
"60",
|
| 76 |
+
"61",
|
| 77 |
+
"61",
|
| 78 |
+
"60",
|
| 79 |
+
"61",
|
| 80 |
+
"60",
|
| 81 |
+
"61",
|
| 82 |
+
"61",
|
| 83 |
+
"60",
|
| 84 |
+
"61",
|
| 85 |
+
"61",
|
| 86 |
+
"60",
|
| 87 |
+
"61",
|
| 88 |
+
"61",
|
| 89 |
+
"60",
|
| 90 |
+
"61",
|
| 91 |
+
"60",
|
| 92 |
+
"61",
|
| 93 |
+
"61",
|
| 94 |
+
"60",
|
| 95 |
+
"61",
|
| 96 |
+
"61",
|
| 97 |
+
"60",
|
| 98 |
+
"61",
|
| 99 |
+
"61",
|
| 100 |
+
"60",
|
| 101 |
+
"61",
|
| 102 |
+
"60",
|
| 103 |
+
"61",
|
| 104 |
+
"61",
|
| 105 |
+
"60",
|
| 106 |
+
"61",
|
| 107 |
+
"61",
|
| 108 |
+
"60",
|
| 109 |
+
"61",
|
| 110 |
+
"60",
|
| 111 |
+
"61",
|
| 112 |
+
"61",
|
| 113 |
+
"60",
|
| 114 |
+
"61",
|
| 115 |
+
"61",
|
| 116 |
+
"60",
|
| 117 |
+
"61",
|
| 118 |
+
"61",
|
| 119 |
+
"60",
|
| 120 |
+
"61",
|
| 121 |
+
"60",
|
| 122 |
+
"61",
|
| 123 |
+
"61",
|
| 124 |
+
"60",
|
| 125 |
+
"61",
|
| 126 |
+
"61",
|
| 127 |
+
"60",
|
| 128 |
+
"61",
|
| 129 |
+
"61",
|
| 130 |
+
"60",
|
| 131 |
+
"61",
|
| 132 |
+
"60",
|
| 133 |
+
"61",
|
| 134 |
+
"61",
|
| 135 |
+
"60",
|
| 136 |
+
"61",
|
| 137 |
+
"61",
|
| 138 |
+
"60",
|
| 139 |
+
"61",
|
| 140 |
+
"60",
|
| 141 |
+
"61",
|
| 142 |
+
"61",
|
| 143 |
+
"60",
|
| 144 |
+
"61"
|
| 145 |
+
]
|
| 146 |
+
}
|
| 147 |
+
],
|
| 148 |
+
"version": "1.0.0"
|
| 149 |
+
}
|
features.json
ADDED
|
@@ -0,0 +1,158 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
+
"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
+
"episode_metadata": {
|
| 6 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 7 |
+
"featuresDict": {
|
| 8 |
+
"features": {
|
| 9 |
+
"file_path": {
|
| 10 |
+
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
|
| 11 |
+
"text": {},
|
| 12 |
+
"description": "Path to the original data file."
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
}
|
| 16 |
+
},
|
| 17 |
+
"steps": {
|
| 18 |
+
"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 19 |
+
"sequence": {
|
| 20 |
+
"feature": {
|
| 21 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 22 |
+
"featuresDict": {
|
| 23 |
+
"features": {
|
| 24 |
+
"is_first": {
|
| 25 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 26 |
+
"tensor": {
|
| 27 |
+
"shape": {},
|
| 28 |
+
"dtype": "bool",
|
| 29 |
+
"encoding": "none"
|
| 30 |
+
},
|
| 31 |
+
"description": "True on first step of the episode."
|
| 32 |
+
},
|
| 33 |
+
"observation": {
|
| 34 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 35 |
+
"featuresDict": {
|
| 36 |
+
"features": {
|
| 37 |
+
"wrist_image": {
|
| 38 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 39 |
+
"image": {
|
| 40 |
+
"shape": {
|
| 41 |
+
"dimensions": [
|
| 42 |
+
"256",
|
| 43 |
+
"256",
|
| 44 |
+
"3"
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"dtype": "uint8",
|
| 48 |
+
"encodingFormat": "jpeg"
|
| 49 |
+
},
|
| 50 |
+
"description": "Wrist camera RGB observation."
|
| 51 |
+
},
|
| 52 |
+
"state": {
|
| 53 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 54 |
+
"tensor": {
|
| 55 |
+
"shape": {
|
| 56 |
+
"dimensions": [
|
| 57 |
+
"8"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
"dtype": "float32",
|
| 61 |
+
"encoding": "none"
|
| 62 |
+
},
|
| 63 |
+
"description": "Robot EEF state (6D pose, 2D gripper)."
|
| 64 |
+
},
|
| 65 |
+
"image": {
|
| 66 |
+
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
|
| 67 |
+
"image": {
|
| 68 |
+
"shape": {
|
| 69 |
+
"dimensions": [
|
| 70 |
+
"256",
|
| 71 |
+
"256",
|
| 72 |
+
"3"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"dtype": "uint8",
|
| 76 |
+
"encodingFormat": "jpeg"
|
| 77 |
+
},
|
| 78 |
+
"description": "Main camera RGB observation."
|
| 79 |
+
},
|
| 80 |
+
"joint_state": {
|
| 81 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 82 |
+
"tensor": {
|
| 83 |
+
"shape": {
|
| 84 |
+
"dimensions": [
|
| 85 |
+
"7"
|
| 86 |
+
]
|
| 87 |
+
},
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"encoding": "none"
|
| 90 |
+
},
|
| 91 |
+
"description": "Robot joint angles."
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
"is_last": {
|
| 97 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 98 |
+
"tensor": {
|
| 99 |
+
"shape": {},
|
| 100 |
+
"dtype": "bool",
|
| 101 |
+
"encoding": "none"
|
| 102 |
+
},
|
| 103 |
+
"description": "True on last step of the episode."
|
| 104 |
+
},
|
| 105 |
+
"reward": {
|
| 106 |
+
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 107 |
+
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|
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