robocasa-H50 / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 1293,
"total_frames": 357335,
"total_tasks": 242,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1293"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
12
],
"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"
]
},
"next.done": {
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"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"robot0_base_to_eef_pos_0",
"robot0_base_to_eef_pos_1",
"robot0_base_to_eef_pos_2",
"robot0_base_to_eef_quat_0",
"robot0_base_to_eef_quat_1",
"robot0_base_to_eef_quat_2",
"robot0_base_to_eef_quat_3",
"robot0_gripper_qpos_0",
"robot0_gripper_qpos_1",
"robot0_base_pos_0",
"robot0_base_pos_1",
"robot0_base_pos_2",
"robot0_base_quat_0",
"robot0_base_quat_1",
"robot0_base_quat_2",
"robot0_base_quat_3"
]
},
"observation.images.robot0_agentview_left_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand_image": {
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"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"task_index": {
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"shape": [
1
],
"names": null
},
"timestamp": {
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1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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1
],
"names": null
},
"index": {
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],
"names": null
}
}
}