{ "codebase_version": "v2.0", "robot_type": "human", "total_episodes": 48, "total_frames": 25480, "total_tasks": 47, "total_videos": 240, "total_chunks": 1, "chunks_size": 1000, "fps": 10.0, "splits": { "train": "0:48" }, "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": { "robot0.observation.state.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.observation.state.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot0.observation.state.joint_positions": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.cartesian_velocity": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.delta_action": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.target_cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.target_gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot0.policy_action": { "dtype": "object", "shape": [ 1 ], "names": null }, "robot0.teleop_action": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.observation.state.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.observation.state.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot1.observation.state.joint_positions": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.cartesian_velocity": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.delta_action": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.target_cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.target_gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot1.policy_action": { "dtype": "object", "shape": [ 1 ], "names": null }, "robot1.teleop_action": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.gripper_velocity": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot1.action.gripper_velocity": { "dtype": "float32", "shape": [ 1 ], "names": [ "position_0" ] }, "robot0.action.cartesian_position_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.cartesian_position_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.gripper_position_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.gripper_position_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.joint_positions_delta": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.joint_positions_accumulated": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.target_cartesian_position_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.target_cartesian_position_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.target_gripper_position_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.target_gripper_position_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.cartesian_velocity_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.cartesian_velocity_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot0.action.gripper_velocity_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.gripper_velocity_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot0.action.delta_action_delta": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot0.action.delta_action_accumulated": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.cartesian_position_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.cartesian_position_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.gripper_position_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.gripper_position_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.joint_positions_delta": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.joint_positions_accumulated": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.target_cartesian_position_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.target_cartesian_position_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.target_gripper_position_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.target_gripper_position_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.cartesian_velocity_delta": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.cartesian_velocity_accumulated": { "dtype": "float32", "shape": [ 6 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5" ] }, "robot1.action.gripper_velocity_delta": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.gripper_velocity_accumulated": { "dtype": "float64", "shape": [ 1 ], "names": null }, "robot1.action.delta_action_delta": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.delta_action_accumulated": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "is_intervention_segment": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_error_segment": { "dtype": "bool", "shape": [ 1 ], "names": null }, "robot0.action.delta_action_3_14": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "robot1.action.delta_action_3_14": { "dtype": "float32", "shape": [ 7 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6" ] }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6", "position_7", "position_8", "position_9", "position_10", "position_11", "position_12", "position_13" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "position_0", "position_1", "position_2", "position_3", "position_4", "position_5", "position_6", "position_7", "position_8", "position_9", "position_10", "position_11", "position_12", "position_13" ] }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "low_level_task_index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "human_role_subtask_index": { "dtype": "int64", "shape": [ 1 ], "names": [ "position_0" ] }, "observation.images.exo_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 10.0, "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.front_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 10.0, "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.human_front_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 10.0, "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.left_wrist_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 10.0, "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.right_wrist_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 10.0, "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } } } }