| { |
| "codebase_version": "v2.1", |
| "robot_type": "generic", |
| "total_episodes": 1376, |
| "total_frames": 24777, |
| "total_tasks": 16, |
| "total_videos": 1376, |
| "total_chunks": 2, |
| "chunks_size": 1000, |
| "fps": 5, |
| "splits": { |
| "object-7up_can": [4,25,30,48,52,55,98,121,123,126,128,139,141,190,197,226,273,274,323,337,342,373,374,385,408,417,418,421,433,457,463,476,494,496,518,542,551,560,564,566,574,591,602,637,694,762,839,840,862,871,881,890,970,987,990,1011,1013,1029,1040,1096,1112,1134,1142,1172,1182,1188,1202,1210,1224,1225,1234,1279,1296,1299,1333,1355], |
| "object-banana": [0,12,39,40,45,66,93,161,176,179,183,205,216,223,246,259,260,264,330,331,388,448,459,471,552,558,559,573,586,620,624,644,743,756,767,772,777,784,849,850,891,917,930,937,938,939,1000,1023,1035,1043,1082,1114,1126,1158,1175,1181,1253,1301,1312,1332,1351,1359,1367], |
| "object-bbq_sauce": [17,21,46,67,75,78,88,108,113,122,164,165,180,192,211,214,215,227,229,231,235,270,278,292,295,315,335,344,347,355,365,382,392,414,432,441,447,458,478,497,535,548,565,567,570,579,589,594,639,640,646,649,653,663,689,691,728,733,746,755,808,818,822,827,832,834,836,843,859,882,906,914,966,973,991,994,995,1038,1050,1058,1061,1067,1084,1087,1109,1136,1144,1149,1152,1153,1196,1208,1212,1221,1229,1231,1233,1237,1240,1249,1306,1334,1352], |
| "object-bread": [5,41,44,73,79,86,90,125,148,149,154,185,195,209,217,241,245,266,312,361,372,376,397,406,464,488,508,525,532,554,555,561,569,621,625,664,680,703,737,766,774,776,782,792,794,813,816,854,864,886,895,910,922,932,940,949,975,976,993,997,1026,1051,1054,1059,1069,1076,1102,1122,1163,1170,1171,1185,1190,1194,1206,1216,1217,1239,1251,1265,1284,1347,1362,1374], |
| "object-carrot": [19,54,68,70,85,96,120,124,129,137,156,157,171,182,210,224,237,253,258,262,304,316,341,354,360,367,369,371,391,394,398,400,428,429,443,450,474,506,507,537,563,600,607,662,678,682,699,719,720,740,742,745,778,781,791,800,810,826,830,841,844,868,878,884,888,893,907,909,915,929,933,943,954,955,984,998,1004,1019,1034,1039,1052,1053,1064,1066,1106,1138,1139,1146,1151,1154,1155,1160,1174,1193,1199,1201,1226,1230,1232,1263,1268,1269,1273,1283,1305,1315,1316,1336,1337,1349,1365], |
| "object-fast_food_cup": [1,29,43,50,72,84,110,117,133,144,152,159,167,172,177,181,188,199,263,320,338,343,349,353,356,362,378,422,435,479,505,517,520,549,604,608,613,622,643,679,706,711,723,739,770,773,795,805,815,831,845,847,901,905,913,920,921,958,964,969,974,977,982,1002,1005,1012,1028,1045,1072,1089,1094,1111,1115,1132,1141,1166,1183,1209,1223,1264,1278,1285,1291,1308,1314,1330,1366], |
| "object-golf_ball": [13,58,62,64,65,100,116,134,143,150,168,173,178,198,200,208,232,234,242,250,271,285,308,311,314,324,327,329,364,375,379,390,415,419,439,460,468,475,477,501,510,521,582,592,599,610,634,658,661,687,700,715,734,735,750,771,806,821,869,887,894,897,923,996,1009,1016,1037,1056,1081,1104,1127,1145,1164,1167,1192,1211,1238,1289,1294,1298,1322,1369,1372], |
| "object-hamburger": [32,33,35,81,104,155,163,175,189,228,230,243,265,277,346,358,370,411,454,472,491,492,523,527,538,571,572,576,580,581,585,593,605,612,616,623,638,670,705,717,741,754,759,760,765,801,828,837,858,874,885,911,931,944,945,951,953,960,967,980,1010,1070,1090,1092,1105,1116,1143,1177,1197,1228,1272,1286,1309,1350,1354], |
| "object-ketchup_bottle": [14,18,28,53,61,82,89,94,97,103,106,131,135,140,170,191,194,201,222,225,290,294,297,301,303,305,309,318,345,348,359,368,393,396,401,404,407,410,413,436,440,445,461,470,473,498,500,504,516,522,524,529,540,556,598,614,615,627,667,690,693,701,747,749,785,790,799,809,811,825,853,883,889,900,908,916,924,948,952,999,1044,1046,1055,1073,1074,1077,1093,1097,1107,1108,1110,1113,1130,1148,1150,1205,1207,1214,1215,1220,1244,1248,1288,1302,1304,1318,1319,1325,1327,1338,1356,1364,1368,1371], |
| "object-kitchen_shovel": [7,38,83,92,109,174,207,220,238,249,261,267,281,282,286,287,298,310,317,319,326,328,332,351,381,384,389,409,412,466,467,489,499,528,557,583,584,587,596,630,633,635,647,673,695,696,698,707,716,724,726,727,731,732,753,757,780,786,812,817,824,848,870,876,879,899,927,962,988,1008,1017,1018,1031,1041,1047,1063,1078,1085,1086,1095,1100,1117,1133,1135,1168,1180,1187,1198,1203,1242,1292,1295,1297,1317,1321,1329,1335,1357], |
| "object-pipe": [3,6,16,22,23,31,56,59,114,118,119,132,147,160,202,206,279,284,289,300,306,307,313,339,350,377,420,430,437,456,481,483,485,486,502,514,526,553,568,578,595,609,618,626,631,642,648,650,651,652,702,744,751,752,764,775,789,802,803,823,852,856,877,896,919,934,935,961,972,979,1014,1042,1065,1099,1121,1140,1156,1157,1161,1162,1173,1200,1245,1247,1254,1261,1262,1266,1267,1274,1303,1326,1346,1373], |
| "object-plant": [8,20,60,111,127,136,142,145,146,153,162,184,218,219,239,240,276,293,340,357,366,403,425,438,449,452,469,533,539,543,597,611,645,655,665,671,685,688,692,729,758,761,783,787,793,804,829,833,855,861,898,918,956,959,978,981,985,1001,1006,1007,1032,1068,1098,1101,1119,1120,1129,1184,1195,1213,1222,1243,1258,1271,1275,1307,1323,1328], |
| "object-plastic_bottle": [9,10,24,36,49,57,63,99,169,187,203,248,257,275,288,291,352,399,426,427,431,442,490,493,511,546,603,657,677,684,697,704,709,712,721,725,738,769,779,788,796,820,903,926,928,942,963,1021,1025,1030,1036,1049,1057,1071,1083,1118,1124,1131,1137,1147,1176,1178,1189,1218,1227,1246,1250,1252,1255,1270,1276,1277,1282,1310,1324,1339,1341,1353,1370,1375], |
| "object-toy_bear": [2,42,74,91,130,186,204,233,254,255,256,272,280,283,325,387,395,416,434,484,487,515,519,536,541,590,601,606,619,636,675,681,686,718,730,797,807,835,863,873,880,912,941,947,965,1020,1024,1027,1091,1128,1165,1179,1191,1235,1236,1256,1259,1280,1287,1293,1320,1331,1340,1345,1348,1358,1360,1363], |
| "object-watering_can": [15,47,71,76,77,80,101,102,105,107,115,138,166,193,196,212,236,251,299,321,334,363,386,424,453,455,480,495,503,513,530,534,544,550,588,628,641,666,668,669,672,674,683,710,713,736,768,798,814,819,842,851,857,860,865,866,875,892,902,904,936,950,971,986,989,1015,1048,1088,1169,1186,1241,1290,1300,1311,1343,1361], |
| "object-zuchinni": [11,26,27,34,37,51,69,87,95,112,151,158,213,221,244,247,252,268,269,296,302,322,333,336,380,383,402,405,423,444,446,451,462,465,482,509,512,531,545,547,562,575,577,617,629,632,654,656,659,660,676,708,714,722,748,763,838,846,867,872,925,946,957,968,983,992,1003,1022,1033,1060,1062,1075,1079,1080,1103,1123,1125,1159,1204,1219,1257,1260,1281,1313,1342,1344], |
| "train": "0:1376" |
| }, |
| "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.image": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "image" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 5, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "actions": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "dx", |
| "dy", |
| "dz", |
| "droll", |
| "dpitch", |
| "dyaw", |
| "gripper_binary" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
