| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "mimic_single_arm", | |
| "total_episodes": 5, | |
| "total_frames": 2096, | |
| "total_tasks": 1, | |
| "total_videos": 2, | |
| "total_chunks": 0, | |
| "chunks_size": 1000, | |
| "fps": 20.0, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "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": { | |
| "observation.images.ego_view": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 20.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_view": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 20.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 25 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
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| "h12", | |
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| "h14", | |
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| }, | |
| "action": { | |
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| "names": [ | |
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| "h16" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
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| 1 | |
| ] | |
| }, | |
| "annotation.human.action.task_description": { | |
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| ] | |
| }, | |
| "task_index": { | |
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| ] | |
| }, | |
| "annotation.human.validity": { | |
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| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
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| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
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| }, | |
| "next.reward": { | |
| "dtype": "float32", | |
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| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
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| ] | |
| } | |
| } | |
| } |