| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "panda", | |
| "total_episodes": 1600, | |
| "total_frames": 768897, | |
| "total_tasks": 116, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:1600" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
| "image": { | |
| "dtype": "video", | |
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| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "fps": 10, | |
| "info": { | |
| "video.height": 256, | |
| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "wrist_image": { | |
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| 256, | |
| 256, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "fps": 10, | |
| "info": { | |
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| "video.width": 256, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 10, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "state": { | |
| "dtype": "float32", | |
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| 8 | |
| ], | |
| "names": [ | |
| "state" | |
| ], | |
| "fps": 10 | |
| }, | |
| "actions": { | |
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| ], | |
| "names": [ | |
| "actions" | |
| ], | |
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| }, | |
| "exec_start_idx": { | |
| "dtype": "int32", | |
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| 1 | |
| ], | |
| "names": [ | |
| "execution start idx in current episode" | |
| ], | |
| "fps": 10 | |
| }, | |
| "is_demo": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "is video demo" | |
| ], | |
| "fps": 10 | |
| }, | |
| "step_idx": { | |
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| 1 | |
| ], | |
| "names": [ | |
| "step_idx" | |
| ], | |
| "fps": 10 | |
| }, | |
| "epis_idx": { | |
| "dtype": "int32", | |
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| 1 | |
| ], | |
| "names": [ | |
| "epis_idx" | |
| ], | |
| "fps": 10 | |
| }, | |
| "simple_subgoal": { | |
| "dtype": "string", | |
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| 1 | |
| ], | |
| "names": [ | |
| "simple subgoal" | |
| ], | |
| "fps": 10 | |
| }, | |
| "grounded_subgoal": { | |
| "dtype": "string", | |
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| 1 | |
| ], | |
| "names": [ | |
| "detailed subgoal with grounding information, e.g, object location" | |
| ], | |
| "fps": 10 | |
| }, | |
| "simple_subgoal_online": { | |
| "dtype": "string", | |
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| 1 | |
| ], | |
| "names": [ | |
| "simple subgoal online" | |
| ], | |
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| }, | |
| "grounded_subgoal_online": { | |
| "dtype": "string", | |
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| 1 | |
| ], | |
| "names": [ | |
| "detailed subgoal with grounding information, e.g, object location" | |
| ], | |
| "fps": 10 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
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| "names": null | |
| }, | |
| "frame_index": { | |
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| "names": null | |
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| "episode_index": { | |
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| "names": null | |
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| "index": { | |
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| "names": null | |
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| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |