Datasets:
| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "aloha", | |
| "total_episodes": 50, | |
| "total_frames": 20000, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 50, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "vlm_embeddings": { | |
| "dtype": "float16", | |
| "shape": [ | |
| 64, | |
| 256 | |
| ], | |
| "names": [ | |
| "vlm_embeddings" | |
| ] | |
| }, | |
| "state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 14 | |
| ], | |
| "names": [ | |
| "state" | |
| ] | |
| }, | |
| "base_actions": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 50, | |
| 14 | |
| ], | |
| "names": [ | |
| "base_actions" | |
| ] | |
| }, | |
| "residual_actions": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 50, | |
| 14 | |
| ], | |
| "names": [ | |
| "residual_actions" | |
| ] | |
| }, | |
| "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 | |
| } | |
| } | |
| } |