Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "so100_follower", | |
| "total_episodes": 300, | |
| "total_frames": 60441, | |
| "total_tasks": 1, | |
| "total_videos": 1200, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": [ | |
| "0:10", | |
| "11:30", | |
| "31:50", | |
| "51:70", | |
| "71:90", | |
| "91:110", | |
| "111:130", | |
| "131:150", | |
| "151:170", | |
| "171:190", | |
| "191:210", | |
| "211:230", | |
| "231:250", | |
| "251:270", | |
| "271:290", | |
| "291:300" | |
| ], | |
| "val": [ | |
| 10, | |
| 30, | |
| 50, | |
| 70, | |
| 90, | |
| 110, | |
| 130, | |
| 150, | |
| 170, | |
| 190, | |
| 210, | |
| 230, | |
| 250, | |
| 270, | |
| 290 | |
| ], | |
| "drop": [ | |
| 26, | |
| 27, | |
| 31, | |
| 40, | |
| 41, | |
| 42, | |
| 45, | |
| 46, | |
| 51, | |
| 56, | |
| 77, | |
| 78, | |
| 79, | |
| 82, | |
| 85, | |
| 93, | |
| 94, | |
| 96, | |
| 100, | |
| 101, | |
| 119, | |
| 121, | |
| 128, | |
| 130, | |
| 131, | |
| 134, | |
| 136, | |
| 139, | |
| 150, | |
| 152, | |
| 153, | |
| 157, | |
| 161, | |
| 162, | |
| 163, | |
| 171, | |
| 182, | |
| 184, | |
| 187, | |
| 188, | |
| 189, | |
| 190, | |
| 193, | |
| 213, | |
| 220, | |
| 229, | |
| 259, | |
| 260, | |
| 280 | |
| ] | |
| }, | |
| "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": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ] | |
| }, | |
| "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.base_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 1280, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.arm": { | |
| "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.gripper": { | |
| "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 | |
| } | |
| }, | |
| "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 | |
| } | |
| } | |
| } |