{
  "version": "1.0",
  "description": "Distillation data collected from PPO training",
  "fields": {
    "sample_id": {
      "type": "str",
      "description": "Unique sample identifier"
    },
    "global_step": {
      "type": "int",
      "description": "Global training step"
    },
    "actor_rank": {
      "type": "int",
      "description": "Actor process rank"
    },
    "env_rank": {
      "type": "int",
      "description": "Environment rank"
    },
    "episode_id": {
      "type": "str",
      "description": "Episode identifier"
    },
    "t": {
      "type": "int",
      "description": "Time step index (0..T-1)"
    },
    "b": {
      "type": "int",
      "description": "Batch index (0..B-1, where B=rollout_epoch*batch)"
    },
    "main_image": {
      "type": "ndarray",
      "dtype": "uint8",
      "shape": "[H, W, C]",
      "nullable": true
    },
    "wrist_image": {
      "type": "ndarray",
      "dtype": "uint8",
      "nullable": true
    },
    "proprio": {
      "type": "ndarray",
      "dtype": "float32",
      "nullable": true
    },
    "prompt_text": {
      "type": "str",
      "nullable": true
    },
    "prompt_token_ids": {
      "type": "ndarray",
      "dtype": "int64",
      "nullable": true
    },
    "prompt_attention_mask": {
      "type": "ndarray",
      "dtype": "int64",
      "nullable": true
    },
    "action_chunk": {
      "type": "ndarray",
      "dtype": "float32",
      "shape": "[5, 7]"
    },
    "value_t": {
      "type": "float",
      "nullable": true
    },
    "value_t1": {
      "type": "float",
      "nullable": true
    },
    "delta_v": {
      "type": "float",
      "nullable": true
    },
    "has_valid_delta_v": {
      "type": "bool"
    },
    "reward_t": {
      "type": "float",
      "nullable": true
    },
    "done_t": {
      "type": "bool"
    },
    "success": {
      "type": "bool"
    }
  }
}