meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "droid",
    "total_episodes": 2000,
    "total_frames": 499592,
    "total_tasks": 123259,
    "total_videos": 3,
    "total_chunks": 58,
    "chunks_size": 1000,
    "fps": 15,
    "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.exterior_image_1_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 15,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.exterior_image_2_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 15,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist_image_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 15,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                14
            ],
            "names": [
                "cartesian_position",
                "gripper_position",
                "joint_position"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                28
            ],
            "names": [
                "cartesian_position",
                "cartesian_velocity",
                "gripper_position",
                "gripper_velocity",
                "joint_position",
                "joint_velocity"
            ]
        },
        "timestamp": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "next.reward": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "is_terminal": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "is_first": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "discount": {
            "dtype": "float64",
            "shape": [
                1
            ]
        },
        "annotation.language.language_instruction": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "annotation.language.language_instruction_2": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "annotation.language.language_instruction_3": {
            "dtype": "int64",
            "shape": [
                1
            ]
        }
    }
}