Datasets:
Formats:
parquet
Size:
10K - 100K
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "so101_follower", | |
| "total_episodes": 105, | |
| "total_frames": 20079, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:105" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "shoulder_pan", | |
| "shoulder_lift", | |
| "elbow_flex", | |
| "wrist_flex", | |
| "wrist_roll", | |
| "gripper" | |
| ] | |
| }, | |
| "observation.images.scene": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "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 | |
| } | |
| }, | |
| "augmentation": { | |
| "pipeline_mode": "stacked", | |
| "augment_mode": "concat", | |
| "transforms": [ | |
| { | |
| "type": "LightingAugmentation", | |
| "enabled": true, | |
| "name": "lighting", | |
| "brightness_min": 0.9299999999999999, | |
| "brightness_max": 1.07, | |
| "contrast_min": 0.95, | |
| "contrast_max": 1.05, | |
| "color_temp_min": -550.0, | |
| "color_temp_max": 550.0 | |
| }, | |
| { | |
| "type": "NoiseAugmentation", | |
| "enabled": true, | |
| "name": "noise", | |
| "noise_type": "mixed", | |
| "gaussian_sigma_min": 3.0, | |
| "gaussian_sigma_max": 15.0, | |
| "shot_scale_min": 0.3, | |
| "shot_scale_max": 1.0, | |
| "read_bias_min": -5.0, | |
| "read_bias_max": 5.0, | |
| "read_sigma_min": 1.0, | |
| "read_sigma_max": 4.0 | |
| }, | |
| { | |
| "type": "OcclusionAugmentation", | |
| "enabled": true, | |
| "name": "occlusion", | |
| "occlusion_type": "mixed", | |
| "num_patches_min": 1, | |
| "num_patches_max": 3, | |
| "patch_width_min": 0.05, | |
| "patch_width_max": 0.2, | |
| "patch_height_min": 0.05, | |
| "patch_height_max": 0.2, | |
| "opacity_min": 0.3, | |
| "opacity_max": 0.9, | |
| "overlay_coverage_min": 0.1, | |
| "overlay_coverage_max": 0.35, | |
| "overlay_opacity_min": 0.15, | |
| "overlay_opacity_max": 0.45 | |
| } | |
| ], | |
| "multiplier": 2, | |
| "multipliers": [ | |
| 2, | |
| 2, | |
| 2 | |
| ], | |
| "effective_copies": 2, | |
| "original_episodes": 35, | |
| "original_frames": 6693, | |
| "seed": 40117541 | |
| } | |
| } |