metadata/tensor_view_v1.json

{
  "schema_version": "tensor_view_v1_1",
  "view_order": [
    "robot0_agentview_right",
    "robot0_agentview_left",
    "robot0_eye_in_hand"
  ],
  "node_feats": {
    "shape": "T,N,323",
    "role": "flat compatibility typed-block view; do not use as only model input without per-block projection",
    "slices": {
      "visual_256_canonical_side": [
        0,
        256
      ],
      "position_world": [
        256,
        259
      ],
      "quat_xyzw": [
        259,
        263
      ],
      "linear_velocity_world": [
        263,
        266
      ],
      "angular_velocity_world": [
        266,
        269
      ],
      "qpos_norm": [
        269,
        270
      ],
      "qvel_norm": [
        270,
        271
      ],
      "binary_state": [
        271,
        272
      ],
      "movability": [
        272,
        274
      ],
      "robot_contact": [
        274,
        275
      ],
      "held": [
        275,
        276
      ],
      "visibility_3views": [
        276,
        279
      ],
      "family_onehot_12": [
        279,
        291
      ],
      "type_clip_32": [
        291,
        323
      ]
    }
  },
  "visual_views": {
    "shape": "T,N,3,256",
    "dtype": "float16",
    "description": "per-view masked RGB visual features; view 0 is canonical side; L2-normalized; zeros when invalid"
  },
  "view_visible": {
    "shape": "T,N,3",
    "dtype": "bool"
  },
  "view_centroid": {
    "shape": "T,N,3,2",
    "dtype": "float16",
    "description": "normalized xy; zeros when invisible"
  },
  "view_area": {
    "shape": "T,N,3,1",
    "dtype": "float16",
    "description": "normalized mask area; zeros when invisible"
  },
  "node_static_feats": {
    "optional_shape": "N,44+",
    "description": "loader may construct separated static stream from family/category/type/mobility fields"
  },
  "node_dynamic_feats": {
    "optional_shape": "T,N,physical_dims",
    "description": "loader may construct separated dynamic stream from pose/velocity/qpos/contact/held fields"
  },
  "rel_state": {
    "shape": "T,N,N,8",
    "channels": [
      "contact",
      "support",
      "near",
      "inside",
      "rel_dx",
      "rel_dy",
      "rel_dz",
      "dist_norm"
    ]
  },
  "rel_prior": {
    "shape": "N,N,5",
    "channels": [
      "part_of",
      "controls",
      "same_fixture_group",
      "can_contain",
      "can_support"
    ]
  },
  "named_views": {
    "full_v1_1": [
      "node_feats",
      "visual_views",
      "view_visible",
      "view_centroid",
      "view_area",
      "rel_state",
      "rel_prior"
    ],
    "symbolic_only_v1_1": [
      "node_feats_without_visual_256",
      "rel_state",
      "rel_prior"
    ]
  }
}