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+{
+  "citation": "// TODO(example_dataset): BibTeX citation",
+  "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,...):",
+  "fileFormat": "tfrecord",
+  "moduleName": "coffee_d0_300_demos.coffee_d0_300_demos_dataset_builder",
+  "name": "coffee_d0_300__demos",
+  "releaseNotes": {
+    "1.0.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "1685469056",
+      "shardLengths": [
+        "19",
+        "19",
+        "18",
+        "19",
+        "19",
+        "18",
+        "19",
+        "19",
+        "19",
+        "19",
+        "18",
+        "19",
+        "19",
+        "18",
+        "19",
+        "19"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}

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+{"action": {"mean": [0.03910227492451668, 0.026549872010946274, 0.016112811863422394, 0.00617121160030365, 0.009802641347050667, 0.032283715903759, -0.1772146075963974], "std": [0.27866998314857483, 0.36967650055885315, 0.35988616943359375, 0.058437686413526535, 0.06546443700790405, 0.1048748567700386, 0.9841791391372681], "max": [1.0, 1.0, 1.0, 0.30490386486053467, 0.3423435091972351, 0.9236063361167908, 1.0], "min": [-1.0, -1.0, -1.0, -0.28000304102897644, -0.5609405040740967, -0.2864341139793396, -1.0], "q01": [-0.5959250259399415, -0.8261726045608521, -0.6470922386646271, -0.13291869014501573, -0.13417640179395676, -0.1444952118396759, -1.0], "q99": [0.8507216429710388, 0.9586128246784209, 0.9927734541893004, 0.14416057765483808, 0.17207743942737572, 0.37156413376331276, 1.0]}, "proprio": {"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q01": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "q99": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "num_transitions": 65463, "num_trajectories": 300}

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OEPL/data_files/sft_data/tensorflow_datasets/coffee_d0_300_demos/1.0.0/features.json

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+{
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+    "featuresDict": {
+        "features": {
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                        "featuresDict": {
+                            "features": {
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action, consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]."
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on last step of the episode if it is a terminal step, True for demos."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on last step of the episode."
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "wrist_image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Wrist camera RGB observation."
+                                            },
+                                            "image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Main camera RGB observation."
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot state, consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]."
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on first step of the episode."
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            },
+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                "featuresDict": {
+                    "features": {
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}