| { |
| "codebase_version": "v2.1", |
| "robot_type": "hessian", |
| "total_episodes": 100, |
| "total_frames": 10491, |
| "total_tasks": 1, |
| "total_videos": 300, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 60, |
| "splits": { |
| "train": "0:100" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.images.video_left": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.video_overhead": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.video_right": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 60, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "state" |
| ] |
| }, |
| "observation.velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "velocity" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "action" |
| ] |
| }, |
| "source.action_time_s": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.compress": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.current_subgoal": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.double_arm": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.has_raw_actions": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.landmark_mode_enabled": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.num_landmarks": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.openpi_prompt": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.robot_type": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.sim": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.single_arm": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.subgoal_selection_key": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "metadata.task_name": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "prompt": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
