Datasets:
| { | |
| "codebase_version": "v2.0", | |
| "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", | |
| "robot_type": "koch", | |
| "total_episodes": 50, | |
| "total_tasks": 1, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "keys": [ | |
| "observation.state", | |
| "action" | |
| ], | |
| "video_keys": [ | |
| "observation.images.laptop", | |
| "observation.images.phone" | |
| ], | |
| "image_keys": [], | |
| "shapes": { | |
| "observation.state": 6, | |
| "action": 6, | |
| "observation.images.laptop": { | |
| "width": 640, | |
| "height": 480, | |
| "channels": 3 | |
| }, | |
| "observation.images.phone": { | |
| "width": 640, | |
| "height": 480, | |
| "channels": 3 | |
| } | |
| }, | |
| "names": { | |
| "observation.state": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ], | |
| "action": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "videos": { | |
| "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", | |
| "observation.images.laptop": { | |
| "video.fps": 30.0, | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| }, | |
| "observation.images.phone": { | |
| "video.fps": 30.0, | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "episodes": [ | |
| { | |
| "length": 519, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 550, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 491, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 574, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 566, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 447, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 539, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 524, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 486, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 390, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 404, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 390, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 441, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 432, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 416, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 390, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 396, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 401, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 457, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 363, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 395, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 401, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 384, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 472, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 364, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 389, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 428, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 483, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 444, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 411, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 407, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 432, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 383, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 405, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 409, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 329, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 429, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 431, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 376, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 376, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 344, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 370, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 403, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 377, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 367, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 406, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 490, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 403, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 344, | |
| "task": 0 | |
| }, | |
| { | |
| "length": 439, | |
| "task": 0 | |
| } | |
| ] | |
| } |