Publication of Open X-Embodiment datasets.

tensorflow_datasets/robotics/__init__.py

@@ -37,16 +37,22 @@
 from tensorflow_datasets.robotics.rtx import DlrSaraGridClampConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import DlrSaraPourConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import EthAgentAffordances
+from tensorflow_datasets.robotics.rtx import Fractal20220817Data
+from tensorflow_datasets.robotics.rtx import FurnitureBenchDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import IamlabCmuPickupInsertConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import ImperialcollegeSawyerWristCam
 from tensorflow_datasets.robotics.rtx import JacoPlay
 from tensorflow_datasets.robotics.rtx import KaistNonprehensileConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import Kuka
+from tensorflow_datasets.robotics.rtx import LanguageTable
 from tensorflow_datasets.robotics.rtx import ManiskillDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import NyuDoorOpeningSurprisingEffectiveness
 from tensorflow_datasets.robotics.rtx import NyuFrankaPlayDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import NyuRotDatasetConvertedExternallyToRlds
+from tensorflow_datasets.robotics.rtx import QutDexterousManpulation
+from tensorflow_datasets.robotics.rtx import RoboNet
 from tensorflow_datasets.robotics.rtx import Roboturk
+from tensorflow_datasets.robotics.rtx import RobotVqa
 from tensorflow_datasets.robotics.rtx import StanfordHydraDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import StanfordKukaMultimodalDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx import StanfordMaskVitConvertedExternallyToRlds

tensorflow_datasets/robotics/dataset_importer_builder.py

@@ -44,8 +44,8 @@ class DatasetImporterBuilder(
   RELEASE_NOTES = {
       '0.1.0': 'Initial release.',
   }
-  _GCS_BUCKET = 'gs://gresearch/robotics/'
-  # _GCS_BUCKET = ''
+  # _GCS_BUCKET = 'gs://gresearch/robotics/'
+  _GCS_BUCKET = ''
   KEYS_TO_STRIP = [
       'episode_id',
       'legacy_datasets',

tensorflow_datasets/robotics/rtx/__init__.py

@@ -37,16 +37,22 @@
 from tensorflow_datasets.robotics.rtx.rtx import DlrSaraGridClampConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import DlrSaraPourConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import EthAgentAffordances
+from tensorflow_datasets.robotics.rtx.rtx import Fractal20220817Data
+from tensorflow_datasets.robotics.rtx.rtx import FurnitureBenchDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import IamlabCmuPickupInsertConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import ImperialcollegeSawyerWristCam
 from tensorflow_datasets.robotics.rtx.rtx import JacoPlay
 from tensorflow_datasets.robotics.rtx.rtx import KaistNonprehensileConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import Kuka
+from tensorflow_datasets.robotics.rtx.rtx import LanguageTable
 from tensorflow_datasets.robotics.rtx.rtx import ManiskillDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import NyuDoorOpeningSurprisingEffectiveness
 from tensorflow_datasets.robotics.rtx.rtx import NyuFrankaPlayDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import NyuRotDatasetConvertedExternallyToRlds
+from tensorflow_datasets.robotics.rtx.rtx import QutDexterousManpulation
+from tensorflow_datasets.robotics.rtx.rtx import RoboNet
 from tensorflow_datasets.robotics.rtx.rtx import Roboturk
+from tensorflow_datasets.robotics.rtx.rtx import RobotVqa
 from tensorflow_datasets.robotics.rtx.rtx import StanfordHydraDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import StanfordKukaMultimodalDatasetConvertedExternallyToRlds
 from tensorflow_datasets.robotics.rtx.rtx import StanfordMaskVitConvertedExternallyToRlds

tensorflow_datasets/robotics/rtx/rtx.py

@@ -1195,3 +1195,24 @@ def get_homepage(self):
 
   def get_relative_dataset_location(self):
     return 'imperialcollege_sawyer_wrist_cam/0.1.0'
+
+
+class Fractal20220817Data(dataset_importer_builder.DatasetImporterBuilder):
+  """DatasetBuilder for `fractal_20220817_data` dataset."""
+
+  def get_description(self):
+    return 'Table-top manipulation with 17 objects'
+
+  def get_citation(self):
+    return r"""@article{brohan2022rt,
+  title={Rt-1: Robotics transformer for real-world control at scale},
+  author={Brohan, Anthony and Brown, Noah and Carbajal, Justice and Chebotar, Yevgen and Dabis, Joseph and Finn, Chelsea and Gopalakrishnan, Keerthana and Hausman, Karol and Herzog, Alex and Hsu, Jasmine and others},
+  journal={arXiv preprint arXiv:2212.06817},
+  year={2022}
+}"""
+
+  def get_homepage(self):
+    return 'https://ai.googleblog.com/2022/12/rt-1-robotics-transformer-for-real.html'
+
+  def get_relative_dataset_location(self):
+    return 'fractal20220817_data/0.1.0'