| { | |
| "codebase_version": "v2.0", | |
| "total_episodes": 121, | |
| "total_frames": 68668, | |
| "fps": 30, | |
| "camera_keys": [ | |
| "observation.images.Lwebcam", | |
| "observation.images.back", | |
| "observation.images.laptop", | |
| "observation.images.macwebcam", | |
| "observation.images.phone", | |
| "observation.images.top" | |
| ], | |
| "video": true, | |
| "chunks_size": 1000, | |
| "data_path": "data/episode_{episode_index}.parquet", | |
| "video_path": "videos/{video_key}/episode_{episode_index}.mp4", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "left_shoulder_pan", | |
| "left_shoulder_lift", | |
| "left_elbow_flex", | |
| "left_wrist_flex", | |
| "left_wrist_roll", | |
| "left_gripper", | |
| "right_shoulder_pan", | |
| "right_shoulder_lift", | |
| "right_elbow_flex", | |
| "right_wrist_flex", | |
| "right_wrist_roll", | |
| "right_gripper" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
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| 12 | |
| ], | |
| "names": [ | |
| "left_shoulder_pan", | |
| "left_shoulder_lift", | |
| "left_elbow_flex", | |
| "left_wrist_flex", | |
| "left_wrist_roll", | |
| "left_gripper", | |
| "right_shoulder_pan", | |
| "right_shoulder_lift", | |
| "right_elbow_flex", | |
| "right_wrist_flex", | |
| "right_wrist_roll", | |
| "right_gripper" | |
| ] | |
| }, | |
| "observation.images.laptop": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
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| "video.codec": "av1", | |
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| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.phone": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.Lwebcam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.macwebcam": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
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| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
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| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
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| "shape": [ | |
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| ], | |
| "names": null | |
| }, | |
| "observation.images.top": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.back": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| } | |
| }, | |
| "splits": { | |
| "train": "0:97", | |
| "val": "97:109", | |
| "test": "109:121" | |
| } | |
| } |