| { |
| "codebase_version": "v3.0", |
| "fps": 15, |
| "features": { |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 398, |
| 3 |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 398, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.preset": null, |
| "video.g": null, |
| "video.fast_decode": null, |
| "video.crf": null, |
| "video.video_backend": "pyav", |
| "video.extra_options": null |
| } |
| }, |
| "observation.images.external_0": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 398, |
| 3 |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 398, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.preset": null, |
| "video.g": null, |
| "video.fast_decode": null, |
| "video.crf": null, |
| "video.video_backend": "pyav", |
| "video.extra_options": null |
| } |
| }, |
| "observation.images.external_1": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 398, |
| 3 |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 398, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.preset": null, |
| "video.g": null, |
| "video.fast_decode": null, |
| "video.crf": null, |
| "video.video_backend": "pyav", |
| "video.extra_options": null |
| } |
| }, |
| "observation.depth.wrist": { |
| "dtype": "depth_video", |
| "shape": [ |
| 224, |
| 398, |
| 1 |
| ], |
| "scale": "uint12_mm", |
| "encoding": "h265_uint12", |
| "depth_range_mm": 2000.0 |
| }, |
| "observation.depth.external_0": { |
| "dtype": "depth_video", |
| "shape": [ |
| 224, |
| 398, |
| 1 |
| ], |
| "scale": "uint12_mm", |
| "encoding": "h265_uint12", |
| "depth_range_mm": 2000.0 |
| }, |
| "observation.depth.external_1": { |
| "dtype": "depth_video", |
| "shape": [ |
| 224, |
| 398, |
| 1 |
| ], |
| "scale": "uint12_mm", |
| "encoding": "h265_uint12", |
| "depth_range_mm": 2000.0 |
| }, |
| "observation.pointcloud.wrist": { |
| "dtype": "pointcloud", |
| "shape": [ |
| null, |
| 3 |
| ], |
| "max_points": 2048, |
| "features": [], |
| "quantize_xyz": true, |
| "xyz_range_x": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_y": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_z": [ |
| 0.0, |
| 1.6 |
| ] |
| }, |
| "observation.pointcloud.external_0": { |
| "dtype": "pointcloud", |
| "shape": [ |
| null, |
| 3 |
| ], |
| "max_points": 2048, |
| "features": [], |
| "quantize_xyz": true, |
| "xyz_range_x": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_y": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_z": [ |
| 0.0, |
| 1.6 |
| ] |
| }, |
| "observation.pointcloud.external_1": { |
| "dtype": "pointcloud", |
| "shape": [ |
| null, |
| 3 |
| ], |
| "max_points": 2048, |
| "features": [], |
| "quantize_xyz": true, |
| "xyz_range_x": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_y": [ |
| -1.0, |
| 1.0 |
| ], |
| "xyz_range_z": [ |
| 0.0, |
| 1.6 |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "language_1": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "language_2": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "language_3": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "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 |
| } |
| }, |
| "total_episodes": 58201, |
| "total_frames": 18083626, |
| "total_tasks": 23858, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": null, |
| "splits": { |
| "train": "0:58201" |
| } |
| } |