| {
|
| "codebase_version": "v2.0",
|
| "robot_type": "so100",
|
| "total_episodes": 50,
|
| "total_frames": 10778,
|
| "total_tasks": 1,
|
| "total_videos": 100,
|
| "total_chunks": 1,
|
| "chunks_size": 1000,
|
| "fps": 15,
|
| "splits": {
|
| "train": "0:50"
|
| },
|
| "data_path": "data/beegbrain_so100_put_cube_cup.tsfile",
|
| "features": {
|
| "Time": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TIME",
|
| "unit": "ms"
|
| },
|
| "episode_index": {
|
| "dtype": "string",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG",
|
| "source_dtype": "int64"
|
| },
|
| "task_index": {
|
| "dtype": "string",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG",
|
| "source_dtype": "int64"
|
| },
|
| "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": "Beegbrain/so100_put_cube_cup",
|
| "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| "converted_data_path": "data/beegbrain_so100_put_cube_cup.tsfile",
|
| "table_name": "beegbrain_so100_put_cube_cup",
|
| "granularity": "merged",
|
| "time_precision": "ms",
|
| "time_mapping": {
|
| "source": "timestamp",
|
| "fps": 15,
|
| "unit": "milliseconds"
|
| },
|
| "tag_columns": [
|
| "episode_index",
|
| "task_index"
|
| ],
|
| "row_count": 10778,
|
| "feature_source": "features describe the converted TsFile schema",
|
| "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_features": [
|
| "observation.images.realsense_side",
|
| "observation.images.realsense_top"
|
| ],
|
| "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| "original_video_features": {
|
| "observation.images.realsense_side": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.fps": 15.0,
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.channels": 3,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "has_audio": false
|
| }
|
| },
|
| "observation.images.realsense_top": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.fps": 15.0,
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.channels": 3,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "has_audio": false
|
| }
|
| }
|
| },
|
| "original_video_source": "https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup/tree/main/videos",
|
| "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
|
| "original_dataset_url": "https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup",
|
| "original_dataset_publisher": "Beegbrain",
|
| "episode_file_count": 50,
|
| "episode_count": 50,
|
| "actual_episode_indexes": [
|
| 0,
|
| 1,
|
| 2,
|
| 3,
|
| 4,
|
| 5,
|
| 6,
|
| 7,
|
| 8,
|
| 9,
|
| 10,
|
| 11,
|
| 12,
|
| 13,
|
| 14,
|
| 15,
|
| 16,
|
| 17,
|
| 18,
|
| 19,
|
| 20,
|
| 21,
|
| 22,
|
| 23,
|
| 24,
|
| 25,
|
| 26,
|
| 27,
|
| 28,
|
| 29,
|
| 30,
|
| 31,
|
| 32,
|
| 33,
|
| 34,
|
| 35,
|
| 36,
|
| 37,
|
| 38,
|
| 39,
|
| 40,
|
| 41,
|
| 42,
|
| 43,
|
| 44,
|
| 45,
|
| 46,
|
| 47,
|
| 48,
|
| 49
|
| ],
|
| "source_video_file_count": 100,
|
| "source_video_bytes": 155224490,
|
| "source_video_streams": [
|
| "observation.images.realsense_side",
|
| "observation.images.realsense_top"
|
| ],
|
| "frame_video_alignment": "episode_index and frame_index align numeric rows with the original per-episode realsense_side and realsense_top videos.",
|
| "encoding_profile": {
|
| "FLOAT_DOUBLE": "GORILLA+LZ4",
|
| "INT32_INT64": "TS_2DIFF+LZ4",
|
| "Time": "TS_2DIFF+LZ4",
|
| "BOOLEAN": "RLE+LZ4 (not present)",
|
| "TAG": "TsFile table/device TAG mechanism"
|
| }
|
| }
|
| } |
