Datasets:
{ | |
"codebase_version": "v2.0", | |
"robot_type": "aloha-stationary", | |
"total_episodes": 99, | |
"total_frames": 24750, | |
"total_tasks": 1, | |
"total_videos": 297, | |
"total_chunks": 1, | |
"chunks_size": 1000, | |
"fps": 10, | |
"splits": { | |
"train": "0:99" | |
}, | |
"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": { | |
"action": { | |
"dtype": "float32", | |
"shape": [ | |
14 | |
], | |
"names": [ | |
"action_0", | |
"action_1", | |
"action_2", | |
"action_3", | |
"action_4", | |
"action_5", | |
"action_6", | |
"action_7", | |
"action_8", | |
"action_9", | |
"action_10", | |
"action_11", | |
"action_12", | |
"action_13" | |
] | |
}, | |
"observation.image.camera1": { | |
"dtype": "video", | |
"shape": [ | |
480, | |
640, | |
3 | |
], | |
"names": [ | |
"channel", | |
"height", | |
"width" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"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.image.camera2": { | |
"dtype": "video", | |
"shape": [ | |
480, | |
640, | |
3 | |
], | |
"names": [ | |
"channel", | |
"height", | |
"width" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"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.image.camera3": { | |
"dtype": "video", | |
"shape": [ | |
480, | |
640, | |
3 | |
], | |
"names": [ | |
"channel", | |
"height", | |
"width" | |
], | |
"info": { | |
"video.fps": 10.0, | |
"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.state": { | |
"dtype": "float32", | |
"shape": [ | |
14 | |
], | |
"names": [ | |
"qpos_0", | |
"qpos_1", | |
"qpos_2", | |
"qpos_3", | |
"qpos_4", | |
"qpos_5", | |
"qpos_6", | |
"qpos_7", | |
"qpos_8", | |
"qpos_9", | |
"qpos_10", | |
"qpos_11", | |
"qpos_12", | |
"qpos_13" | |
] | |
}, | |
"observation.qvel": { | |
"dtype": "float32", | |
"shape": [ | |
12 | |
], | |
"names": [ | |
"qvel_0", | |
"qvel_1", | |
"qvel_2", | |
"qvel_3", | |
"qvel_4", | |
"qvel_5", | |
"qvel_6", | |
"qvel_7", | |
"qvel_8", | |
"qvel_9", | |
"qvel_10", | |
"qvel_11" | |
] | |
}, | |
"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 | |
} | |
} | |
} |