{ "codebase_version": "v3.0", "robot_type": null, "total_episodes": 100, "total_frames": 38336, "total_tasks": 10, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:100" }, "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", "features": { "observation.state": { "dtype": "float32", "shape": [ 28 ] }, "action": { "dtype": "float32", "shape": [ 25 ] }, "observation.images.front": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.wrist1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "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 } }, "autobioplus": { "created_by": "scripts/render_lerobot.py", "source_collection": "/home/ubuntu/AutoBioPlus/logs/collect/ABPP-Shadow-Tube-Insert/replay_buffer.zarr", "task_id": "ABPP-Shadow-Tube-Insert", "camera_sources": [ "gs_wrist_cam_rgb", "gs_front_cam_rgb", "gs_left_cam_rgb" ], "action_transform": "none", "action_env_origin_normalization": "episode_origin_subtracted", "state_env_origin_normalization": "none", "goal_balance": { "goal_balanced": true, "goal_balance_mode": "joint", "goal_variant_count": 10, "goal_episodes_per_variant": 10, "goal_balance_target_episodes": 100, "goal_balance_seed": 0, "goal_variant_catalog": [ [ 0.0, 0.0 ], [ 0.0, 1.0 ], [ 1.0, 0.0 ], [ 1.0, 1.0 ], [ 2.0, 0.0 ], [ 2.0, 1.0 ], [ 3.0, 0.0 ], [ 3.0, 1.0 ], [ 4.0, 0.0 ], [ 4.0, 1.0 ] ] }, "replay_qpos": { "path": "replay/qpos.npy", "dtype": "float32", "shape": [ 38336, 35 ], "env_origin_normalization": "episode_origin_subtracted" } } }