usim / train /meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "AgileBot",
"total_episodes": 1750,
"total_frames": 696990,
"total_tasks": 9,
"total_videos": 3500,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1750"
},
"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": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
29
],
"names": [
"joint_pos",
"pwm",
"joint_v",
"dvl_v",
"imu_av",
"imu_la",
"pressure",
"dvl_h"
]
},
"action": {
"dtype": "float32",
"shape": [
13
],
"names": [
"joint_pos",
"pwm"
]
},
"target_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_pos"
]
},
"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
}
}
}