| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "GR1ArmsAndWaistFourierHands", | |
| "total_episodes": 10053, | |
| "total_frames": 1963078, | |
| "total_tasks": 11, | |
| "total_videos": 10053, | |
| "total_chunks": 11, | |
| "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.state": { | |
| "dtype": "object", | |
| "shape": [ | |
| 44 | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "object", | |
| "shape": [ | |
| 44 | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.reward": { | |
| "dtype": "float64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "annotation.human.coarse_action": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.images.ego_view": { | |
| "dtype": "video", | |
| "shape": [ | |
| 256, | |
| 256, | |
| 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 | |
| } | |
| } | |
| } | |
| } |