| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "mobile", | |
| "total_episodes": 5, | |
| "total_frames": 4500, | |
| "total_tasks": 1, | |
| "total_videos": 10, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:5" | |
| }, | |
| "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", | |
| "depth_images_path": null, | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": [ | |
| "action_0", | |
| "action_1", | |
| "action_2", | |
| "action_3", | |
| "action_4", | |
| "action_5", | |
| "action_6", | |
| "action_7", | |
| "action_8", | |
| "action_9", | |
| "action_10", | |
| "action_11", | |
| "action_12", | |
| "action_13", | |
| "action_14", | |
| "action_15", | |
| "action_16", | |
| "action_17", | |
| "action_18", | |
| "action_19" | |
| ] | |
| }, | |
| "observation.base_action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "base_action_0", | |
| "base_action_1", | |
| "base_action_2" | |
| ] | |
| }, | |
| "observation.effort": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": [ | |
| "effort_0", | |
| "effort_1", | |
| "effort_2", | |
| "effort_3", | |
| "effort_4", | |
| "effort_5", | |
| "effort_6", | |
| "effort_7", | |
| "effort_8", | |
| "effort_9", | |
| "effort_10", | |
| "effort_11", | |
| "effort_12", | |
| "effort_13", | |
| "effort_14", | |
| "effort_15", | |
| "effort_16", | |
| "effort_17", | |
| "effort_18", | |
| "effort_19" | |
| ] | |
| }, | |
| "observation.effort_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "effort_base_0", | |
| "effort_base_1", | |
| "effort_base_2" | |
| ] | |
| }, | |
| "observation.effort_head": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "effort_head_0", | |
| "effort_head_1" | |
| ] | |
| }, | |
| "observation.head_action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "head_action_0", | |
| "head_action_1" | |
| ] | |
| }, | |
| "observation.images.0_femtobolt": { | |
| "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.1_gemini330": { | |
| "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.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": [ | |
| "qpos_0", | |
| "qpos_1", | |
| "qpos_2", | |
| "qpos_3", | |
| "qpos_4", | |
| "qpos_5", | |
| "qpos_6", | |
| "qpos_7", | |
| "qpos_8", | |
| "qpos_9", | |
| "qpos_10", | |
| "qpos_11", | |
| "qpos_12", | |
| "qpos_13", | |
| "qpos_14", | |
| "qpos_15", | |
| "qpos_16", | |
| "qpos_17", | |
| "qpos_18", | |
| "qpos_19" | |
| ] | |
| }, | |
| "observation.state_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "qpos_base_0", | |
| "qpos_base_1", | |
| "qpos_base_2" | |
| ] | |
| }, | |
| "observation.state_head": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "qpos_head_0", | |
| "qpos_head_1" | |
| ] | |
| }, | |
| "observation.qvel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "names": [ | |
| "qvel_0", | |
| "qvel_1", | |
| "qvel_2", | |
| "qvel_3", | |
| "qvel_4", | |
| "qvel_5", | |
| "qvel_6", | |
| "qvel_7", | |
| "qvel_8", | |
| "qvel_9", | |
| "qvel_10", | |
| "qvel_11", | |
| "qvel_12", | |
| "qvel_13", | |
| "qvel_14", | |
| "qvel_15", | |
| "qvel_16", | |
| "qvel_17", | |
| "qvel_18", | |
| "qvel_19" | |
| ] | |
| }, | |
| "observation.qvel_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "qvel_base_0", | |
| "qvel_base_1", | |
| "qvel_base_2" | |
| ] | |
| }, | |
| "observation.qvel_head": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": [ | |
| "qvel_head_0", | |
| "qvel_head_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 | |
| } | |
| } | |
| } |