| {
|
| "codebase_version": "v2.1",
|
| "robot_type": "so101",
|
| "total_episodes": 50,
|
| "total_frames": 47507,
|
| "total_tasks": 1,
|
| "total_videos": 100,
|
| "total_chunks": 1,
|
| "chunks_size": 1000,
|
| "fps": 30,
|
| "splits": {
|
| "train": "0:50"
|
| },
|
| "data_path": "data/kunalmod_so101_groot.tsfile",
|
| "features": {
|
| "Time": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TIME",
|
| "unit": "ms"
|
| },
|
| "episode_index": {
|
| "dtype": "string",
|
| "source_dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG"
|
| },
|
| "task_index": {
|
| "dtype": "string",
|
| "source_dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG"
|
| },
|
| "frame_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "sample_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_0": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_1": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_2": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_3": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_4": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_5": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_0": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_1": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_2": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_3": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_4": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_5": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| }
|
| },
|
| "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| "tsfile_conversion": {
|
| "source_dataset": "Kunalmod/so101_groot",
|
| "original_dataset_url": "https://huggingface.co/datasets/Kunalmod/so101_groot",
|
| "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| "converted_data_path": "data/kunalmod_so101_groot.tsfile",
|
| "table_name": "kunalmod_so101_groot",
|
| "granularity": "merged",
|
| "time_precision": "ms",
|
| "time_mapping": {
|
| "source": "timestamp",
|
| "formula": "round(timestamp * 1000)",
|
| "unit": "milliseconds",
|
| "restarts_per_episode": true
|
| },
|
| "tag_columns": [
|
| "episode_index",
|
| "task_index"
|
| ],
|
| "row_count": 47507,
|
| "episode_count": 50,
|
| "source_episode_file_count": 50,
|
| "flattened_features": {
|
| "action": [
|
| "action_0",
|
| "action_1",
|
| "action_2",
|
| "action_3",
|
| "action_4",
|
| "action_5"
|
| ],
|
| "observation.state": [
|
| "observation_state_0",
|
| "observation_state_1",
|
| "observation_state_2",
|
| "observation_state_3",
|
| "observation_state_4",
|
| "observation_state_5"
|
| ]
|
| },
|
| "renamed_features": {
|
| "index": "sample_index"
|
| },
|
| "dropped_features": [
|
| "timestamp"
|
| ],
|
| "omitted_video_features": [
|
| "observation.images.base",
|
| "observation.images.wrist"
|
| ],
|
| "original_video_features": {
|
| "observation.images.base": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "video.fps": 30,
|
| "video.channels": 3,
|
| "has_audio": false
|
| }
|
| },
|
| "observation.images.wrist": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "video.fps": 30,
|
| "video.channels": 3,
|
| "has_audio": false
|
| }
|
| }
|
| },
|
| "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| "original_video_source": "https://huggingface.co/datasets/Kunalmod/so101_groot/tree/main/videos",
|
| "video_policy": "Videos stay in the original repository and are not included with the TsFile.",
|
| "frame_video_alignment": "episode_index and frame_index preserve alignment with both source MP4 streams.",
|
| "source_author": {
|
| "name": "Kunalmod",
|
| "huggingface_user": "Kunalmod",
|
| "url": "https://huggingface.co/Kunalmod"
|
| },
|
| "task_index_mapping": {
|
| "0": "Grasp a block and put it in the box."
|
| }
|
| }
|
| }
|
|
|
