{ "chunks_size": 1000, "codebase_version": "v3.0", "data_files_size_in_mb": 100, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "features": { "action": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "episode_index": { "dtype": "int64", "names": null, "shape": [ 1 ] }, "frame_index": { "dtype": "int64", "names": null, "shape": [ 1 ] }, "index": { "dtype": "int64", "names": null, "shape": [ 1 ] }, "observation.images.above": { "dtype": "video", "info": { "has_audio": false, "is_depth_map": false, "video.channels": 3, "video.codec": "av1", "video.crf": 30, "video.extra_options": {}, "video.fast_decode": 0, "video.fps": 30, "video.g": 2, "video.height": 480, "video.pix_fmt": "yuv420p", "video.preset": 12, "video.video_backend": "pyav", "video.width": 640 }, "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ] }, "observation.images.left": { "dtype": "video", "info": { "has_audio": false, "is_depth_map": false, "video.channels": 3, "video.codec": "av1", "video.crf": 30, "video.extra_options": {}, "video.fast_decode": 0, "video.fps": 30, "video.g": 2, "video.height": 480, "video.pix_fmt": "yuv420p", "video.preset": 12, "video.video_backend": "pyav", "video.width": 640 }, "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ] }, "observation.images.middle": { "dtype": "video", "info": { "has_audio": false, "is_depth_map": false, "video.channels": 3, "video.codec": "av1", "video.crf": 30, "video.extra_options": {}, "video.fast_decode": 0, "video.fps": 30, "video.g": 2, "video.height": 480, "video.pix_fmt": "yuv420p", "video.preset": 12, "video.video_backend": "pyav", "video.width": 640 }, "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ] }, "observation.images.right": { "dtype": "video", "info": { "has_audio": false, "is_depth_map": false, "video.channels": 3, "video.codec": "av1", "video.crf": 30, "video.extra_options": {}, "video.fast_decode": 0, "video.fps": 30, "video.g": 2, "video.height": 480, "video.pix_fmt": "yuv420p", "video.preset": 12, "video.video_backend": "pyav", "video.width": 640 }, "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ] }, "observation.images.wrist": { "dtype": "video", "info": { "has_audio": false, "is_depth_map": false, "video.channels": 3, "video.codec": "av1", "video.crf": 30, "video.extra_options": {}, "video.fast_decode": 0, "video.fps": 30, "video.g": 2, "video.height": 480, "video.pix_fmt": "yuv420p", "video.preset": 12, "video.video_backend": "pyav", "video.width": 640 }, "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ] }, "observation.state": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "task_index": { "dtype": "int64", "names": null, "shape": [ 1 ] }, "timestamp": { "dtype": "float32", "names": null, "shape": [ 1 ] } }, "fps": 30, "robot_type": "so_follower", "splits": { "train": "0:1200" }, "total_episodes": 1200, "total_frames": 609553, "total_tasks": 306, "video_files_size_in_mb": 200, "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" }