File size: 4,019 Bytes
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"version": 3,
"state": "original observation.state stays 30D; action unchanged",
"separate_fields": {
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"shape": [
16
],
"names": [
"approach",
"grasp",
"retreat",
"transport",
"pour",
"place",
"stack",
"return",
"skill_reserved_08",
"skill_reserved_09",
"skill_reserved_10",
"skill_reserved_11",
"skill_reserved_12",
"skill_reserved_13",
"skill_reserved_14",
"skill_reserved_15"
],
"reserved_ids": [
8,
9,
10,
11,
12,
13,
14,
15
]
},
"pos_onehot": {
"dtype": "float32",
"shape": [
16
],
"names": [
"none",
"right1",
"right2",
"top1",
"top2",
"pos_reserved_05",
"pos_reserved_06",
"pos_reserved_07",
"pos_reserved_08",
"pos_reserved_09",
"pos_reserved_10",
"pos_reserved_11",
"pos_reserved_12",
"pos_reserved_13",
"pos_reserved_14",
"pos_reserved_15"
],
"reserved_ids": [
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8,
9,
10,
11,
12,
13,
14,
15
]
},
"obj_onehot": {
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"shape": [
16
],
"names": [
"none",
"bread",
"kettle",
"cup",
"obj_reserved_04",
"obj_reserved_05",
"obj_reserved_06",
"obj_reserved_07",
"obj_reserved_08",
"obj_reserved_09",
"obj_reserved_10",
"obj_reserved_11",
"obj_reserved_12",
"obj_reserved_13",
"obj_reserved_14",
"obj_reserved_15"
],
"reserved_ids": [
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11,
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13,
14,
15
]
},
"progress_fourier": {
"dtype": "float32",
"shape": [
11
],
"names": [
"progress_path",
"progress_sin_1pi",
"progress_cos_1pi",
"progress_sin_2pi",
"progress_cos_2pi",
"progress_sin_3pi",
"progress_cos_3pi",
"progress_sin_4pi",
"progress_cos_4pi",
"progress_sin_5pi",
"progress_cos_5pi"
]
}
},
"onehot_vocabularies": {
"skill": {
"approach": 0,
"grasp": 1,
"retreat": 2,
"transport": 3,
"pour": 4,
"place": 5,
"stack": 6,
"return": 7
},
"pos": {
"none": 0,
"right1": 1,
"right2": 2,
"top1": 3,
"top2": 4
},
"obj": {
"none": 0,
"bread": 1,
"kettle": 2,
"cup": 3
}
},
"onehot_rule": "exactly one 1; none is an explicit category, not all zeros",
"progress_source": "progress_path; cumulative joint path with existing gripper event weight",
"fourier_formula": "[p, sin(pi*p), cos(pi*p), sin(2*pi*p), cos(2*pi*p), ..., sin(5*pi*p), cos(5*pi*p)]",
"fourier_computation_dtype": "float64",
"storage_dtype": "float32",
"normalization": "none during encoding",
"missing_obj": "Missing source obj is explicitly none/0 in encoded Parquet and CSV; obj_was_missing=1 preserves source missingness.",
"scalar_labels": "source scalar labels retained; absent obj/obj_id normalized to none/0 in encoded Parquet and CSV; obj_was_missing in CSV records provenance",
"csv": "labels.csv",
"source_root": "/home/chw/桌面/proskill1017/dataset_encode",
"dataset_layout": [
"."
],
"media": "Independent regular file copies; no symlinks or hardlinks",
"onehot_capacity": 16,
"extension_policy": "Assign new categories to unused IDs in 0..15; preserve all existing IDs; update codebook and names without resizing fields. Reserved slots are zero until assigned.",
"merged_task_count": 6
}
|