| { |
| "action_dim": 19, |
| "actions": { |
| "action.body": { |
| "alignment": "same_frame_timestamp", |
| "column": "actions", |
| "frame_column": "action", |
| "frame_path": "data/frames.lance", |
| "frame_table": "frames", |
| "kind": "action", |
| "names_ref": "meta/info.json#/features/action/names", |
| "path": "data/episodes.lance", |
| "rate_hz": 30.0, |
| "semantics": { |
| "absolute_or_delta": "absolute", |
| "applies_to_interval": "[t_i, t_{i+1})", |
| "command_type": "joint_position", |
| "control_frame": "robot_base", |
| "normalized": false, |
| "units": "mixed" |
| }, |
| "shape": [ |
| 19 |
| ], |
| "shape_policy": "single", |
| "source_key": "action", |
| "stats": "meta/stats/action_body.json", |
| "table": "episodes" |
| } |
| }, |
| "camera_keys": [ |
| "observation.images.cam_head", |
| "observation.images.cam_wrist_left", |
| "observation.images.cam_wrist_right" |
| ], |
| "created_at": "2026-05-24T10:08:17.716372+00:00", |
| "curation": { |
| "policy": "deleted episodes excluded; accepted/edited annotations materialized", |
| "source_format": "robot_data_studio_lance_subset_v2", |
| "source_lance_subset_root": "/home/shkim_rllab/Desktop/rllab_robot_stack/data/exports/fd4489c8-6af2-43ff-b41c-5cc034e70409/lance_subset" |
| }, |
| "dataset_id": "data_pickup_tire", |
| "format": "rllab_published_lance_dataset_v2", |
| "fps": 30.0, |
| "meta": { |
| "action_body_stats": "meta/stats/action_body.json", |
| "episodes_jsonl": "meta/episodes.jsonl", |
| "info": "meta/info.json", |
| "sessions": "meta/sessions.json", |
| "splits": "meta/splits.json", |
| "state_body_stats": "meta/stats/state_body.json", |
| "stats_dir": "meta/stats", |
| "tasks_jsonl": "meta/tasks.jsonl" |
| }, |
| "modalities": { |
| "state.body": { |
| "column": "observation_state", |
| "frame_column": "observation_state", |
| "frame_path": "data/frames.lance", |
| "frame_table": "frames", |
| "kind": "state", |
| "names_ref": "meta/info.json#/features/observation.state/names", |
| "path": "data/episodes.lance", |
| "rate_hz": 30.0, |
| "shape": [ |
| 19 |
| ], |
| "shape_policy": "single", |
| "source_key": "observation.state", |
| "stats": "meta/stats/state_body.json", |
| "table": "episodes" |
| }, |
| "video.cam_head": { |
| "blob_column": "video_blob", |
| "camera_column": "cam_head", |
| "camera_key": "observation.images.cam_head", |
| "encoding": "rgb8_h264", |
| "kind": "video", |
| "media_id_column": "media_id", |
| "names_ref": "meta/info.json#/features/observation.images.cam_head/names", |
| "path": "data/videos.lance", |
| "rate_hz": 30.0, |
| "segment_column": "camera_segments", |
| "shape_ref": "meta/info.json#/features/observation.images.cam_head/shape", |
| "source_key": "observation.images.cam_head", |
| "table": "videos" |
| }, |
| "video.cam_wrist_left": { |
| "blob_column": "video_blob", |
| "camera_column": "cam_wrist_left", |
| "camera_key": "observation.images.cam_wrist_left", |
| "encoding": "rgb8_h264", |
| "kind": "video", |
| "media_id_column": "media_id", |
| "names_ref": "meta/info.json#/features/observation.images.cam_wrist_left/names", |
| "path": "data/videos.lance", |
| "rate_hz": 30.0, |
| "segment_column": "camera_segments", |
| "shape_ref": "meta/info.json#/features/observation.images.cam_wrist_left/shape", |
| "source_key": "observation.images.cam_wrist_left", |
| "table": "videos" |
| }, |
| "video.cam_wrist_right": { |
| "blob_column": "video_blob", |
| "camera_column": "cam_wrist_right", |
| "camera_key": "observation.images.cam_wrist_right", |
| "encoding": "rgb8_h264", |
| "kind": "video", |
| "media_id_column": "media_id", |
| "names_ref": "meta/info.json#/features/observation.images.cam_wrist_right/names", |
| "path": "data/videos.lance", |
| "rate_hz": 30.0, |
| "segment_column": "camera_segments", |
| "shape_ref": "meta/info.json#/features/observation.images.cam_wrist_right/shape", |
| "source_key": "observation.images.cam_wrist_right", |
| "table": "videos" |
| } |
| }, |
| "primary_training_table": "data/episodes.lance", |
| "schema_version": "2.0", |
| "state_dim": 19, |
| "stats": { |
| "action_body": "meta/stats/action_body.json", |
| "action_count": 16800, |
| "action_dim": 19, |
| "path": "meta/stats.json", |
| "state_body": "meta/stats/state_body.json", |
| "state_count": 16800, |
| "state_dim": 19 |
| }, |
| "tables": { |
| "episodes": "data/episodes.lance", |
| "frames": "data/frames.lance", |
| "primary_training": "data/episodes.lance", |
| "videos": "data/videos.lance" |
| }, |
| "total_episodes": 50, |
| "total_frames": 16800, |
| "total_videos": 150, |
| "training_columns": null, |
| "version_description": "data_pickup_tire with episodes 0-4 deleted" |
| } |