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{ |
|
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"codebase_version": "v3.0", |
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"robot_type": "aloha", |
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"total_episodes": 50, |
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"total_frames": 75000, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"fps": 50.0, |
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"splits": { |
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"train": "0:50" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"observation.images.cam_high": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
|
|
], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.cam_left_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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|
], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.cam_low": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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|
], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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|
], |
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"video_info": { |
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"video.fps": 50.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.cam_right_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
|
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640, |
|
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3 |
|
|
], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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|
], |
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"video_info": { |
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"video.fps": 50.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
|
|
], |
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"names": { |
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"motors": [ |
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"left_waist", |
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|
"left_shoulder", |
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"left_elbow", |
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|
"left_forearm_roll", |
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|
"left_wrist_angle", |
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|
"left_wrist_rotate", |
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|
"left_gripper", |
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|
"right_waist", |
|
|
"right_shoulder", |
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|
"right_elbow", |
|
|
"right_forearm_roll", |
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|
"right_wrist_angle", |
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|
"right_wrist_rotate", |
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|
"right_gripper" |
|
|
] |
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}, |
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"fps": 50.0 |
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}, |
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"observation.effort": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
|
|
], |
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"names": { |
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"motors": [ |
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|
"left_waist", |
|
|
"left_shoulder", |
|
|
"left_elbow", |
|
|
"left_forearm_roll", |
|
|
"left_wrist_angle", |
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|
"left_wrist_rotate", |
|
|
"left_gripper", |
|
|
"right_waist", |
|
|
"right_shoulder", |
|
|
"right_elbow", |
|
|
"right_forearm_roll", |
|
|
"right_wrist_angle", |
|
|
"right_wrist_rotate", |
|
|
"right_gripper" |
|
|
] |
|
|
}, |
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"fps": 50.0 |
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|
}, |
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"action": { |
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"dtype": "float32", |
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|
"shape": [ |
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14 |
|
|
], |
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"names": { |
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"motors": [ |
|
|
"left_waist", |
|
|
"left_shoulder", |
|
|
"left_elbow", |
|
|
"left_forearm_roll", |
|
|
"left_wrist_angle", |
|
|
"left_wrist_rotate", |
|
|
"left_gripper", |
|
|
"right_waist", |
|
|
"right_shoulder", |
|
|
"right_elbow", |
|
|
"right_forearm_roll", |
|
|
"right_wrist_angle", |
|
|
"right_wrist_rotate", |
|
|
"right_gripper" |
|
|
] |
|
|
}, |
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"fps": 50.0 |
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}, |
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|
"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
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}, |
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"next.done": { |
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"dtype": "bool", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 50.0 |
|
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} |
|
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}, |
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"data_files_size_in_mb": 100, |
|
|
"video_files_size_in_mb": 500 |
|
|
} |
