p04798526
/
robotics_transformer
mirror of https://github.com/google-research/robotics_transformer.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
robotics_transformer/trained_checkpoints/rt1multirobot/policy_specs.pbtxt

597 lines
16 KiB
Plaintext
Raw Permalink Normal View History

add checkpoints
2022-12-14 06:19:44 +08:00
dict_value {
fields {
key: "collect_data_spec"
value {
named_tuple_value {
name: "Trajectory"
values {
key: "step_type"
value {
tensor_spec_value {
name: "step_type"
shape {
}
dtype: DT_INT32
}
}
}
values {
key: "observation"
value {
dict_value {
fields {
key: "base_pose_tool_reached"
value {
tensor_spec_value {
name: "base_pose_tool_reached"
shape {
dim {
size: 7
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "gripper_closed"
value {
tensor_spec_value {
name: "gripper_closed"
shape {
dim {
size: 1
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "gripper_closedness_commanded"
value {
tensor_spec_value {
name: "gripper_closedness_commanded"
shape {
dim {
size: 1
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "height_to_bottom"
value {
tensor_spec_value {
name: "height_to_bottom"
shape {
dim {
size: 1
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "image"
value {
tensor_spec_value {
name: "image"
shape {
dim {
size: 256
}
dim {
size: 320
}
dim {
size: 3
}
}
dtype: DT_UINT8
}
}
}
fields {
key: "natural_language_embedding"
value {
tensor_spec_value {
name: "natural_language_embedding"
shape {
dim {
size: 512
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "natural_language_instruction"
value {
tensor_spec_value {
name: "natural_language_instruction"
shape {
}
dtype: DT_STRING
}
}
}
fields {
key: "orientation_box"
value {
tensor_spec_value {
name: "orientation_box"
shape {
dim {
size: 2
}
dim {
size: 3
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "orientation_start"
value {
tensor_spec_value {
name: "orientation_in_camera_space"
shape {
dim {
size: 4
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "robot_orientation_positions_box"
value {
tensor_spec_value {
name: "robot_orientation_positions_box"
shape {
dim {
size: 3
}
dim {
size: 3
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "rotation_delta_to_go"
value {
tensor_spec_value {
name: "rotation_delta_to_go"
shape {
dim {
size: 3
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "src_rotation"
value {
tensor_spec_value {
name: "transform_camera_robot"
shape {
dim {
size: 4
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "vector_to_go"
value {
tensor_spec_value {
name: "vector_to_go"
shape {
dim {
size: 3
}
}
dtype: DT_FLOAT
}
}
}
fields {
key: "workspace_bounds"
value {
tensor_spec_value {
name: "workspace_bounds"
shape {
dim {
size: 3
}
dim {
size: 3
}
}
dtype: DT_FLOAT
}
}
}
}
}
}
values {
key: "action"
value {
dict_value {
fields {
key: "base_displacement_vector"
value {
bounded_tensor_spec_value {
name: "base_displacement_vector"
shape {
dim {
size: 2
}
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: -1.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
fields {
key: "base_displacement_vertical_rotation"
value {
bounded_tensor_spec_value {
name: "base_displacement_vertical_rotation"
shape {
dim {
size: 1
}
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: -3.1415927
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 3.1415927
}
}
}
}
fields {
key: "gripper_closedness_action"
value {
bounded_tensor_spec_value {
name: "gripper_closedness_action"
shape {
dim {
size: 1
}
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: -1.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
fields {
key: "rotation_delta"
value {
bounded_tensor_spec_value {
name: "rotation_delta"
shape {
dim {
size: 3
}
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: -1.5707964
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.5707964
}
}
}
}
fields {
key: "terminate_episode"
value {
bounded_tensor_spec_value {
name: "terminate_episode"
shape {
dim {
size: 3
}
}
dtype: DT_INT32
minimum {
dtype: DT_INT32
tensor_shape {
}
int_val: 0
}
maximum {
dtype: DT_INT32
tensor_shape {
}
int_val: 1
}
}
}
}
fields {
key: "world_vector"
value {
bounded_tensor_spec_value {
name: "world_vector"
shape {
dim {
size: 3
}
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: -1.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
}
}
}
values {
key: "policy_info"
value {
dict_value {
fields {
key: "discounted_return"
value {
bounded_tensor_spec_value {
name: "discounted_return"
shape {
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 0.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
fields {
key: "return"
value {
bounded_tensor_spec_value {
name: "return"
shape {
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 0.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
}
}
}
values {
key: "next_step_type"
value {
tensor_spec_value {
name: "step_type"
shape {
}
dtype: DT_INT32
}
}
}
values {
key: "reward"
value {
tensor_spec_value {
name: "reward"
shape {
}
dtype: DT_FLOAT
}
}
}
values {
key: "discount"
value {
bounded_tensor_spec_value {
name: "discount"
shape {
}
dtype: DT_FLOAT
minimum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 0.0
}
maximum {
dtype: DT_FLOAT
tensor_shape {
}
float_val: 1.0
}
}
}
}
}
}
}
fields {
key: "policy_state_spec"
value {
dict_value {
fields {
key: "action_tokens"
value {
tensor_spec_value {
name: "action_tokens"
shape {
dim {
size: 6
}
dim {
size: 11
}
dim {
size: 1
}
dim {
size: 1
}
}
dtype: DT_INT32
}
}
}
fields {
key: "image"
value {
tensor_spec_value {
name: "image"
shape {
dim {
size: 6
}
dim {
size: 256
}
dim {
size: 320
}
dim {
size: 3
}
}
dtype: DT_UINT8
}
}
}
fields {
key: "step_num"
value {
tensor_spec_value {
name: "step_num"
shape {
dim {
size: 1
}
dim {
size: 1
}
dim {
size: 1
}
dim {
size: 1
}
}
dtype: DT_INT32
}
}
}
fields {
key: "t"
value {
tensor_spec_value {
name: "t"
shape {
dim {
size: 1
}
dim {
size: 1
}
dim {
size: 1
}
dim {
size: 1
}
}
dtype: DT_INT32
}
}
}
}
}
}
}