{
  "name": "deva_robocasa",
  "views": [
    "agentview_left",
    "agentview_right",
    "eye_in_hand"
  ],
  "tile": [
    [
      "agentview_left",
      "agentview_right"
    ],
    [
      "eye_in_hand",
      null
    ]
  ],
  "video": {
    "native_hw": [
      448,
      448
    ],
    "panel_hw": [
      224,
      224
    ],
    "fps": 16
  },
  "affordance": {
    "layout": "per_view",
    "dtype": "float16",
    "normalization": "none",
    "native_hw": {
      "agentview_left": [
        224,
        224
      ],
      "agentview_right": [
        224,
        224
      ],
      "eye_in_hand": [
        224,
        224
      ]
    },
    "view_size": [
      128,
      128
    ],
    "arrays": {
      "<view>": "float16 [T, Hv, Wv] - raw affordance, un-normalized; the loader resizes to view_size then per-frame max-normalizes"
    }
  },
  "depth": {
    "layout": "per_view",
    "dtype": "float16",
    "range": [
      0,
      1
    ],
    "normalization": "per_view_per_clip_at_export",
    "native_hw": {
      "agentview_left": [
        224,
        224
      ],
      "agentview_right": [
        224,
        224
      ],
      "eye_in_hand": [
        224,
        224
      ]
    },
    "valid_mask": "derived from the tile grid (null cells are invalid); not stored",
    "arrays": {
      "<view>": "float16 [T, Hv, Wv] in [0,1], per-view per-clip normalized at export"
    },
    "source": "DepthAnything (vitl) disparity -> depth = 1/disparity; higher value = farther",
    "clip": {
      "clip_percentile": null,
      "note": "no percentile clip; range set by the farthest pixel, so agentview content occupies roughly the lower half of [0,1] and never saturates"
    }
  }
}