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{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 289,
"total_frames": 68479,
"total_tasks": 7,
"total_videos": 578,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:289"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.mp4",
"features": {
"image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"exec_start_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"execution start idx in current episode"
]
},
"is_demo": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is video demo"
]
},
"step_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"step_idx"
]
},
"epis_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"epis_idx"
]
},
"simple_subgoal": {
"dtype": "string",
"shape": [
1
],
"names": [
"simple subgoal"
]
},
"grounded_subgoal": {
"dtype": "string",
"shape": [
1
],
"names": [
"detailed subgoal with grounding information, e.g, object location"
]
},
"simple_subgoal_online": {
"dtype": "string",
"shape": [
1
],
"names": [
"simple subgoal online"
]
},
"grounded_subgoal_online": {
"dtype": "string",
"shape": [
1
],
"names": [
"detailed subgoal with grounding information, e.g, object location"
]
},
"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
}
}
}