| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "aloha", | |
| "total_episodes": 50, | |
| "total_frames": 20000, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 50, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "data_path": "data/aloha_sim_transfer_cube_human.tsfile", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
| "Time": { | |
| "dtype": "int64", | |
| "role": "TIME", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "role": "TAG", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "role": "TAG", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "sample_index": { | |
| "dtype": "int64", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next_done": { | |
| "dtype": "bool", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_0": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_1": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_2": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_3": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_4": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_5": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_6": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_7": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_8": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_9": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_10": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_11": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_12": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation_state_13": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_0": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_1": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_2": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_3": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_4": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_5": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_6": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_7": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_8": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_9": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_10": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_11": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_12": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action_13": { | |
| "dtype": "float32", | |
| "role": "FIELD", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| }, | |
| "files_size_in_mb": 500.0, | |
| "tsfile_conversion": { | |
| "source_dataset": "lerobot/aloha_sim_transfer_cube_human", | |
| "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "converted_data_path": "data/aloha_sim_transfer_cube_human.tsfile", | |
| "table_name": "aloha_sim_transfer_cube_human", | |
| "granularity": "merged", | |
| "time_precision": "ms", | |
| "time_mapping": { | |
| "formula": "round(timestamp * 1000)", | |
| "unit": "milliseconds", | |
| "time_column": "Time", | |
| "restarts_per_episode": true, | |
| "fps": 50 | |
| }, | |
| "tag_columns": [ | |
| "episode_index", | |
| "task_index" | |
| ], | |
| "vector_columns": "auto-detected list/array columns flattened to FLOAT fields", | |
| "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.", | |
| "column_mapping": { | |
| "renamed": { | |
| "index": "sample_index", | |
| "next.done": "next_done" | |
| }, | |
| "dropped": { | |
| "timestamp": "equals Time/1000 seconds; redundant after Time synthesis", | |
| "observation.images.top": "video not included; see original dataset" | |
| }, | |
| "note": "observation.state/action vector columns flattened to <name>_0..N-1 FLOAT" | |
| }, | |
| "original_features": { | |
| "observation.images.top": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 50.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| }, | |
| "fps": 50.0 | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": { | |
| "motors": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| }, | |
| "fps": 50.0 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50.0 | |
| } | |
| } | |
| } | |
| } |