Name: EpicPinkPenguin/visual_distracting_metaworld
Creator: EpicPinkPenguin
Published: 2026-03-10 21:26:33
License: 暂无描述

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--- dataset_info: - config_name: assembly-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42991618378 num_examples: 1000000 - name: test num_bytes: 4333619745 num_examples: 100000 download_size: 47337721692 dataset_size: 47325238123 - config_name: basketball-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43511322074 num_examples: 1000000 - name: test num_bytes: 4384852129 num_examples: 100000 download_size: 104698873447 dataset_size: 47896174203 - config_name: bin-picking-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43406609671 num_examples: 1000000 - name: test num_bytes: 4376488539 num_examples: 100000 download_size: 129890220823 dataset_size: 47783098210 - config_name: box-close-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43989433805 num_examples: 1000000 - name: test num_bytes: 4464498742 num_examples: 100000 download_size: 48466858480 dataset_size: 48453932547 - config_name: button-press-topdown-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43357600458 num_examples: 1000000 - name: test num_bytes: 4362460562 num_examples: 100000 download_size: 47732588232 dataset_size: 47720061020 - config_name: button-press-topdown-wall-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43596376783 num_examples: 1000000 - name: test num_bytes: 4388637833 num_examples: 100000 download_size: 47993091516 dataset_size: 47985014616 - config_name: button-press-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43465158788 num_examples: 1000000 - name: test num_bytes: 4374623604 num_examples: 100000 download_size: 47852485309 dataset_size: 47839782392 - config_name: button-press-wall-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43573453250 num_examples: 1000000 - name: test num_bytes: 4386759267 num_examples: 100000 download_size: 47972571154 dataset_size: 47960212517 - config_name: coffee-button-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43777187167 num_examples: 1000000 - name: test num_bytes: 4408690248 num_examples: 100000 download_size: 48197907030 dataset_size: 48185877415 - config_name: coffee-pull-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43015370924 num_examples: 1000000 - name: test num_bytes: 4327731279 num_examples: 100000 download_size: 47355939543 dataset_size: 47343102203 - config_name: coffee-push-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43476885324 num_examples: 1000000 - name: test num_bytes: 4377805324 num_examples: 100000 download_size: 47867194256 dataset_size: 47854690648 - config_name: dial-turn-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42682020066 num_examples: 1000000 - name: test num_bytes: 4310261852 num_examples: 100000 download_size: 47005689102 dataset_size: 46992281918 - config_name: disassemble-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42821886210 num_examples: 1000000 - name: test num_bytes: 4317637619 num_examples: 100000 download_size: 47151999046 dataset_size: 47139523829 - config_name: door-close-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43855556168 num_examples: 1000000 - name: test num_bytes: 4407783390 num_examples: 100000 download_size: 48276381161 dataset_size: 48263339558 - config_name: door-lock-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43479268921 num_examples: 1000000 - name: test num_bytes: 4375211802 num_examples: 100000 download_size: 47867569752 dataset_size: 47854480723 - config_name: door-open-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42813853212 num_examples: 1000000 - name: test num_bytes: 4314812702 num_examples: 100000 download_size: 47141536937 dataset_size: 47128665914 - config_name: door-unlock-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43418128129 num_examples: 1000000 - name: test num_bytes: 4363454443 num_examples: 100000 download_size: 47793690552 dataset_size: 47781582572 - config_name: drawer-close-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43609892989 num_examples: 1000000 - name: test num_bytes: 4390810689 num_examples: 100000 download_size: 48013178825 dataset_size: 48000703678 - config_name: drawer-open-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43224387589 num_examples: 1000000 - name: test num_bytes: 4353295250 num_examples: 100000 download_size: 47590549557 dataset_size: 47577682839 - config_name: faucet-close-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43538360963 num_examples: 1000000 - name: test num_bytes: 4380733638 num_examples: 100000 download_size: 47931501490 dataset_size: 47919094601 - config_name: faucet-open-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43617834887 num_examples: 1000000 - name: test num_bytes: 4392251231 num_examples: 100000 download_size: 48022253556 dataset_size: 48010086118 - config_name: hammer-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44247651761 num_examples: 1000000 - name: test num_bytes: 4454896304 num_examples: 100000 download_size: 136010862997 dataset_size: 48702548065 - config_name: hand-insert-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43476239133 num_examples: 1000000 - name: test num_bytes: 4357513209 num_examples: 100000 download_size: 47845881199 dataset_size: 47833752342 - config_name: handle-press-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43809311508 num_examples: 1000000 - name: test num_bytes: 4407776816 num_examples: 100000 download_size: 48229373690 dataset_size: 48217088324 - config_name: handle-press-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44000493537 num_examples: 1000000 - name: test num_bytes: 4423220252 num_examples: 100000 download_size: 48435377172 dataset_size: 48423713789 - config_name: handle-pull-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43616306700 num_examples: 1000000 - name: test num_bytes: 4382235773 num_examples: 100000 download_size: 48011485088 dataset_size: 47998542473 - config_name: handle-pull-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43632378433 num_examples: 1000000 - name: test num_bytes: 4392198659 num_examples: 100000 download_size: 48037747957 dataset_size: 48024577092 - config_name: lever-pull-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43599123410 num_examples: 1000000 - name: test num_bytes: 4383224546 num_examples: 100000 download_size: 47995105149 dataset_size: 47982347956 - config_name: peg-insert-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42865547848 num_examples: 1000000 - name: test num_bytes: 4308215430 num_examples: 100000 download_size: 47186655114 dataset_size: 47173763278 - config_name: peg-unplug-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43707012327 num_examples: 1000000 - name: test num_bytes: 4396212578 num_examples: 100000 download_size: 48116451803 dataset_size: 48103224905 - config_name: pick-out-of-hole-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44895895918 num_examples: 1000000 - name: test num_bytes: 4527217374 num_examples: 100000 download_size: 49437092931 dataset_size: 49423113292 - config_name: pick-place-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42980810921 num_examples: 1000000 - name: test num_bytes: 4325864005 num_examples: 100000 download_size: 47318802338 dataset_size: 47306674926 - config_name: pick-place-wall-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43285546989 num_examples: 1000000 - name: test num_bytes: 4361804741 num_examples: 100000 download_size: 47658747278 dataset_size: 47647351730 - config_name: plate-slide-back-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 45491119855 num_examples: 1000000 - name: test num_bytes: 4577510567 num_examples: 100000 download_size: 50077845626 dataset_size: 50068630422 - config_name: plate-slide-back-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44178367057 num_examples: 1000000 - name: test num_bytes: 4448139706 num_examples: 100000 download_size: 48636200484 dataset_size: 48626506763 - config_name: plate-slide-side-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 45045851020 num_examples: 1000000 - name: test num_bytes: 4534837102 num_examples: 100000 download_size: 49590803946 dataset_size: 49580688122 - config_name: plate-slide-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44428824735 num_examples: 1000000 - name: test num_bytes: 4468511570 num_examples: 100000 download_size: 48909706917 dataset_size: 48897336305 - config_name: push-back-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42519675846 num_examples: 1000000 - name: test num_bytes: 4277981019 num_examples: 100000 download_size: 46810592648 dataset_size: 46797656865 - config_name: push-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42955818918 num_examples: 1000000 - name: test num_bytes: 4327003850 num_examples: 100000 download_size: 47295075711 dataset_size: 47282822768 - config_name: push-wall-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43077389207 num_examples: 1000000 - name: test num_bytes: 4337773879 num_examples: 100000 download_size: 47427769718 dataset_size: 47415163086 - config_name: reach-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42857684551 num_examples: 1000000 - name: test num_bytes: 4315192966 num_examples: 100000 download_size: 47184698948 dataset_size: 47172877517 - config_name: reach-wall-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43186912706 num_examples: 1000000 - name: test num_bytes: 4349775409 num_examples: 100000 download_size: 47548979124 dataset_size: 47536688115 - config_name: shelf-place-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 44569269994 num_examples: 1000000 - name: test num_bytes: 4482024450 num_examples: 100000 download_size: 49062642844 dataset_size: 49051294444 - config_name: soccer-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43457988320 num_examples: 1000000 - name: test num_bytes: 4369006193 num_examples: 100000 download_size: 95382279350 dataset_size: 47826994513 - config_name: stick-pull-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43144018600 num_examples: 1000000 - name: test num_bytes: 4352623148 num_examples: 100000 download_size: 47509582149 dataset_size: 47496641748 - config_name: stick-push-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43396953596 num_examples: 1000000 - name: test num_bytes: 4371261198 num_examples: 100000 download_size: 47780721125 dataset_size: 47768214794 - config_name: sweep-into-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43844834333 num_examples: 1000000 - name: test num_bytes: 4438583728 num_examples: 100000 download_size: 48296223233 dataset_size: 48283418061 - config_name: sweep-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 42521647425 num_examples: 1000000 - name: test num_bytes: 4280669619 num_examples: 100000 download_size: 46814503475 dataset_size: 46802317044 - config_name: window-close-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43370236137 num_examples: 1000000 - name: test num_bytes: 4362610417 num_examples: 100000 download_size: 47745628315 dataset_size: 47732846554 - config_name: window-open-v3 features: - name: observation dtype: image - name: observation_distracted dtype: image - name: mask dtype: image - name: state list: float32 length: 39 - name: action list: float32 length: 4 - name: reward dtype: float32 - name: terminated dtype: bool - name: truncated dtype: bool splits: - name: train num_bytes: 43637611182 num_examples: 1000000 - name: test num_bytes: 4385400963 num_examples: 100000 download_size: 48036013403 dataset_size: 48023012145 configs: - config_name: assembly-v3 data_files: - split: train path: assembly-v3/train-* - split: test path: assembly-v3/test-* - config_name: basketball-v3 data_files: - split: train path: basketball-v3/train-* - split: test path: basketball-v3/test-* - config_name: bin-picking-v3 data_files: - split: test path: bin-picking-v3/test-* - split: train path: bin-picking-v3/train-* - config_name: box-close-v3 data_files: - split: train path: box-close-v3/train-* - split: test path: box-close-v3/test-* - config_name: button-press-topdown-v3 data_files: - split: train path: button-press-topdown-v3/train-* - split: test path: button-press-topdown-v3/test-* - config_name: button-press-topdown-wall-v3 data_files: - split: train path: button-press-topdown-wall-v3/train-* - split: test path: button-press-topdown-wall-v3/test-* - config_name: button-press-v3 data_files: - split: train path: button-press-v3/train-* - split: test path: button-press-v3/test-* - config_name: button-press-wall-v3 data_files: - split: train path: button-press-wall-v3/train-* - split: test path: button-press-wall-v3/test-* - config_name: coffee-button-v3 data_files: - split: train path: coffee-button-v3/train-* - split: test path: coffee-button-v3/test-* - config_name: coffee-pull-v3 data_files: - split: train path: coffee-pull-v3/train-* - split: test path: coffee-pull-v3/test-* - config_name: coffee-push-v3 data_files: - split: train path: coffee-push-v3/train-* - split: test path: coffee-push-v3/test-* - config_name: dial-turn-v3 data_files: - split: train path: dial-turn-v3/train-* - split: test path: dial-turn-v3/test-* - config_name: disassemble-v3 data_files: - split: train path: disassemble-v3/train-* - split: test path: disassemble-v3/test-* - config_name: door-close-v3 data_files: - split: train path: door-close-v3/train-* - split: test path: door-close-v3/test-* - config_name: door-lock-v3 data_files: - split: train path: door-lock-v3/train-* - split: test path: door-lock-v3/test-* - config_name: door-open-v3 data_files: - split: train path: door-open-v3/train-* - split: test path: door-open-v3/test-* - config_name: door-unlock-v3 data_files: - split: train path: door-unlock-v3/train-* - split: test path: door-unlock-v3/test-* - config_name: drawer-close-v3 data_files: - split: train path: drawer-close-v3/train-* - split: test path: drawer-close-v3/test-* - config_name: drawer-open-v3 data_files: - split: train path: drawer-open-v3/train-* - split: test path: drawer-open-v3/test-* - config_name: faucet-close-v3 data_files: - split: train path: faucet-close-v3/train-* - split: test path: faucet-close-v3/test-* - config_name: faucet-open-v3 data_files: - split: train path: faucet-open-v3/train-* - split: test path: faucet-open-v3/test-* - config_name: hammer-v3 data_files: - split: train path: hammer-v3/train-* - split: test path: hammer-v3/test-* - config_name: hand-insert-v3 data_files: - split: train path: hand-insert-v3/train-* - split: test path: hand-insert-v3/test-* - config_name: handle-press-side-v3 data_files: - split: train path: handle-press-side-v3/train-* - split: test path: handle-press-side-v3/test-* - config_name: handle-press-v3 data_files: - split: train path: handle-press-v3/train-* - split: test path: handle-press-v3/test-* - config_name: handle-pull-side-v3 data_files: - split: train path: handle-pull-side-v3/train-* - split: test path: handle-pull-side-v3/test-* - config_name: handle-pull-v3 data_files: - split: train path: handle-pull-v3/train-* - split: test path: handle-pull-v3/test-* - config_name: lever-pull-v3 data_files: - split: train path: lever-pull-v3/train-* - split: test path: lever-pull-v3/test-* - config_name: peg-insert-side-v3 data_files: - split: train path: peg-insert-side-v3/train-* - split: test path: peg-insert-side-v3/test-* - config_name: peg-unplug-side-v3 data_files: - split: train path: peg-unplug-side-v3/train-* - split: test path: peg-unplug-side-v3/test-* - config_name: pick-out-of-hole-v3 data_files: - split: train path: pick-out-of-hole-v3/train-* - split: test path: pick-out-of-hole-v3/test-* - config_name: pick-place-v3 data_files: - split: train path: pick-place-v3/train-* - split: test path: pick-place-v3/test-* - config_name: pick-place-wall-v3 data_files: - split: train path: pick-place-wall-v3/train-* - split: test path: pick-place-wall-v3/test-* - config_name: plate-slide-back-side-v3 data_files: - split: train path: plate-slide-back-side-v3/train-* - split: test path: plate-slide-back-side-v3/test-* - config_name: plate-slide-back-v3 data_files: - split: train path: plate-slide-back-v3/train-* - split: test path: plate-slide-back-v3/test-* - config_name: plate-slide-side-v3 data_files: - split: train path: plate-slide-side-v3/train-* - split: test path: plate-slide-side-v3/test-* - config_name: plate-slide-v3 data_files: - split: train path: plate-slide-v3/train-* - split: test path: plate-slide-v3/test-* - config_name: push-back-v3 data_files: - split: train path: push-back-v3/train-* - split: test path: push-back-v3/test-* - config_name: push-v3 data_files: - split: train path: push-v3/train-* - split: test path: push-v3/test-* - config_name: push-wall-v3 data_files: - split: train path: push-wall-v3/train-* - split: test path: push-wall-v3/test-* - config_name: reach-v3 data_files: - split: train path: reach-v3/train-* - split: test path: reach-v3/test-* - config_name: reach-wall-v3 data_files: - split: train path: reach-wall-v3/train-* - split: test path: reach-wall-v3/test-* - config_name: shelf-place-v3 data_files: - split: train path: shelf-place-v3/train-* - split: test path: shelf-place-v3/test-* - config_name: soccer-v3 data_files: - split: train path: soccer-v3/train-* - split: test path: soccer-v3/test-* - config_name: stick-pull-v3 data_files: - split: train path: stick-pull-v3/train-* - split: test path: stick-pull-v3/test-* - config_name: stick-push-v3 data_files: - split: train path: stick-push-v3/train-* - split: test path: stick-push-v3/test-* - config_name: sweep-into-v3 data_files: - split: train path: sweep-into-v3/train-* - split: test path: sweep-into-v3/test-* - config_name: sweep-v3 data_files: - split: train path: sweep-v3/train-* - split: test path: sweep-v3/test-* - config_name: window-close-v3 data_files: - split: train path: window-close-v3/train-* - split: test path: window-close-v3/test-* - config_name: window-open-v3 data_files: - split: train path: window-open-v3/train-* - split: test path: window-open-v3/test-* --- Empty Dataset

数据集信息如下：本次提供的数据集包含60余个机器人操作任务配置，各配置详情统一结构如下：每个配置包含特征字段、数据划分、整体存储与下载属性三部分。以首个配置assembly-v3（assembly-v3）为例： 1. 特征字段： - observation（观测图像）：数据类型为图像（image） - observation_distracted（带干扰观测图像）：数据类型为图像（image） - mask（掩码图像）：数据类型为图像（image） - state（环境状态）：类型为长度39的float32（float32）列表 - action（智能体动作）：类型为长度4的float32（float32）列表 - reward（即时奖励）：数据类型为float32（float32） - terminated（任务终止标识）：数据类型为布尔值（bool） - truncated（超时截断标识）：数据类型为布尔值（bool） 2. 数据划分： - 训练集（train）：占用字节数42991618378，共计1000000个样本 - 测试集（test）：占用字节数4333619745，共计100000个样本 3. 整体属性：下载总大小47337721692，数据集总存储大小47325238123 其余配置的结构与assembly-v3完全一致，仅配置名称、字节数、样本量及数据路径存在差异，所有配置名称依次为：basketball-v3、bin-picking-v3、box-close-v3、button-press-topdown-v3、button-press-topdown-wall-v3、button-press-v3、button-press-wall-v3、coffee-button-v3、coffee-pull-v3、coffee-push-v3、dial-turn-v3、disassemble-v3、door-close-v3、door-lock-v3、door-open-v3、door-unlock-v3、drawer-close-v3、drawer-open-v3、faucet-close-v3、faucet-open-v3、hammer-v3、hand-insert-v3、handle-press-side-v3、handle-press-v3、handle-pull-side-v3、handle-pull-v3、lever-pull-v3、peg-insert-side-v3、peg-unplug-side-v3、pick-out-of-hole-v3、pick-place-v3、pick-place-wall-v3、plate-slide-back-side-v3、plate-slide-back-v3、plate-slide-side-v3、plate-slide-v3、push-back-v3、push-v3、push-wall-v3、reach-v3、reach-wall-v3、shelf-place-v3、soccer-v3、stick-pull-v3、stick-push-v3、sweep-into-v3、sweep-v3、window-close-v3、window-open-v3。数据集配置详情：各配置对应的数据文件路径如下： - assembly-v3（assembly-v3）：训练集数据路径为assembly-v3/train-*，测试集数据路径为assembly-v3/test-* - basketball-v3（basketball-v3）：训练集数据路径为basketball-v3/train-*，测试集数据路径为basketball-v3/test-* - bin-picking-v3（bin-picking-v3）：测试集数据路径为bin-picking-v3/test-*，训练集数据路径为bin-picking-v3/train-* - box-close-v3（box-close-v3）：训练集数据路径为box-close-v3/train-*，测试集数据路径为box-close-v3/test-* - button-press-topdown-v3（button-press-topdown-v3）：训练集数据路径为button-press-topdown-v3/train-*，测试集数据路径为button-press-topdown-v3/test-* - button-press-topdown-wall-v3（button-press-topdown-wall-v3）：训练集数据路径为button-press-topdown-wall-v3/train-*，测试集数据路径为button-press-topdown-wall-v3/test-* - button-press-v3（button-press-v3）：训练集数据路径为button-press-v3/train-*，测试集数据路径为button-press-v3/test-* - button-press-wall-v3（button-press-wall-v3）：训练集数据路径为button-press-wall-v3/train-*，测试集数据路径为button-press-wall-v3/test-* - coffee-button-v3（coffee-button-v3）：训练集数据路径为coffee-button-v3/train-*，测试集数据路径为coffee-button-v3/test-* - coffee-pull-v3（coffee-pull-v3）：训练集数据路径为coffee-pull-v3/train-*，测试集数据路径为coffee-pull-v3/test-* - coffee-push-v3（coffee-push-v3）：训练集数据路径为coffee-push-v3/train-*，测试集数据路径为coffee-push-v3/test-* - dial-turn-v3（dial-turn-v3）：训练集数据路径为dial-turn-v3/train-*，测试集数据路径为dial-turn-v3/test-* - disassemble-v3（disassemble-v3）：训练集数据路径为disassemble-v3/train-*，测试集数据路径为disassemble-v3/test-* - door-close-v3（door-close-v3）：训练集数据路径为door-close-v3/train-*，测试集数据路径为door-close-v3/test-* - door-lock-v3（door-lock-v3）：训练集数据路径为door-lock-v3/train-*，测试集数据路径为door-lock-v3/test-* - door-open-v3（door-open-v3）：训练集数据路径为door-open-v3/train-*，测试集数据路径为door-open-v3/test-* - door-unlock-v3（door-unlock-v3）：训练集数据路径为door-unlock-v3/train-*，测试集数据路径为door-unlock-v3/test-* - drawer-close-v3（drawer-close-v3）：训练集数据路径为drawer-close-v3/train-*，测试集数据路径为drawer-close-v3/test-* - drawer-open-v3（drawer-open-v3）：训练集数据路径为drawer-open-v3/train-*，测试集数据路径为drawer-open-v3/test-* - faucet-close-v3（faucet-close-v3）：训练集数据路径为faucet-close-v3/train-*，测试集数据路径为faucet-close-v3/test-* - faucet-open-v3（faucet-open-v3）：训练集数据路径为faucet-open-v3/train-*，测试集数据路径为faucet-open-v3/test-* - hammer-v3（hammer-v3）：训练集数据路径为hammer-v3/train-*，测试集数据路径为hammer-v3/test-* - hand-insert-v3（hand-insert-v3）：训练集数据路径为hand-insert-v3/train-*，测试集数据路径为hand-insert-v3/test-* - handle-press-side-v3（handle-press-side-v3）：训练集数据路径为handle-press-side-v3/train-*，测试集数据路径为handle-press-side-v3/test-* - handle-press-v3（handle-press-v3）：训练集数据路径为handle-press-v3/train-*，测试集数据路径为handle-press-v3/test-* - handle-pull-side-v3（handle-pull-side-v3）：训练集数据路径为handle-pull-side-v3/train-*，测试集数据路径为handle-pull-side-v3/test-* - handle-pull-v3（handle-pull-v3）：训练集数据路径为handle-pull-v3/train-*，测试集数据路径为handle-pull-v3/test-* - lever-pull-v3（lever-pull-v3）：训练集数据路径为lever-pull-v3/train-*，测试集数据路径为lever-pull-v3/test-* - peg-insert-side-v3（peg-insert-side-v3）：训练集数据路径为peg-insert-side-v3/train-*，测试集数据路径为peg-insert-side-v3/test-* - peg-unplug-side-v3（peg-unplug-side-v3）：训练集数据路径为peg-unplug-side-v3/train-*，测试集数据路径为peg-unplug-side-v3/test-* - pick-out-of-hole-v3（pick-out-of-hole-v3）：训练集数据路径为pick-out-of-hole-v3/train-*，测试集数据路径为pick-out-of-hole-v3/test-* - pick-place-v3（pick-place-v3）：训练集数据路径为pick-place-v3/train-*，测试集数据路径为pick-place-v3/test-* - pick-place-wall-v3（pick-place-wall-v3）：训练集数据路径为pick-place-wall-v3/train-*，测试集数据路径为pick-place-wall-v3/test-* - plate-slide-back-side-v3（plate-slide-back-side-v3）：训练集数据路径为plate-slide-back-side-v3/train-*，测试集数据路径为plate-slide-back-side-v3/test-* - plate-slide-back-v3（plate-slide-back-v3）：训练集数据路径为plate-slide-back-v3/train-*，测试集数据路径为plate-slide-back-v3/test-* - plate-slide-side-v3（plate-slide-side-v3）：训练集数据路径为plate-slide-side-v3/train-*，测试集数据路径为plate-slide-side-v3/test-* - plate-slide-v3（plate-slide-v3）：训练集数据路径为plate-slide-v3/train-*，测试集数据路径为plate-slide-v3/test-* - push-back-v3（push-back-v3）：训练集数据路径为push-back-v3/train-*，测试集数据路径为push-back-v3/test-* - push-v3（push-v3）：训练集数据路径为push-v3/train-*，测试集数据路径为push-v3/test-* - push-wall-v3（push-wall-v3）：训练集数据路径为push-wall-v3/train-*，测试集数据路径为push-wall-v3/test-* - reach-v3（reach-v3）：训练集数据路径为reach-v3/train-*，测试集数据路径为reach-v3/test-* - reach-wall-v3（reach-wall-v3）：训练集数据路径为reach-wall-v3/train-*，测试集数据路径为reach-wall-v3/test-* - shelf-place-v3（shelf-place-v3）：训练集数据路径为shelf-place-v3/train-*，测试集数据路径为shelf-place-v3/test-* - soccer-v3（soccer-v3）：训练集数据路径为soccer-v3/train-*，测试集数据路径为soccer-v3/test-* - stick-pull-v3（stick-pull-v3）：训练集数据路径为stick-pull-v3/train-*，测试集数据路径为stick-pull-v3/test-* - stick-push-v3（stick-push-v3）：训练集数据路径为stick-push-v3/train-*，测试集数据路径为stick-push-v3/test-* - sweep-into-v3（sweep-into-v3）：训练集数据路径为sweep-into-v3/train-*，测试集数据路径为sweep-into-v3/test-* - sweep-v3（sweep-v3）：训练集数据路径为sweep-v3/train-*，测试集数据路径为sweep-v3/test-* - window-close-v3（window-close-v3）：训练集数据路径为window-close-v3/train-*，测试集数据路径为window-close-v3/test-* - window-open-v3（window-open-v3）：训练集数据路径为window-open-v3/train-*，测试集数据路径为window-open-v3/test-* 注：本数据集为空数据集。

应用场景：