| { |
| "version": 3, |
| "state": "original observation.state stays 30D; action unchanged", |
| "separate_fields": { |
| "skill_onehot": { |
| "dtype": "float32", |
| "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": [ |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| "obj_onehot": { |
| "dtype": "float32", |
| "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": [ |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 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 |
| } |
|
|
