| { |
| "format": "humanoid_v21_episode_sample_bundle", |
| "format_version": 1, |
| "created_date": "2026-08-21", |
| "source_base": "/mnt/data/dataset/PretrainData_v21/Humanoid", |
| "selection_policy": "Five complete, representative and moderate-size episodes per logical top-level source; coverage prioritized across tasks and available schemas/modalities; known broken paths avoided.", |
| "source_payloads_unchanged": true, |
| "logical_dataset_count": 8, |
| "sample_count": 40, |
| "payload_file_count": 266, |
| "payload_bytes": 4933883120, |
| "datasets": [ |
| { |
| "dataset_slug": "agibotworld2026", |
| "source_dataset": "AgibotWorld2026", |
| "samples": 5, |
| "frames": 5353, |
| "duration_seconds": 178.433, |
| "state_dims": [ |
| 162, |
| 169, |
| 183, |
| 193 |
| ], |
| "action_dims": [ |
| 40, |
| 44 |
| ], |
| "robot_types": [ |
| "g2a" |
| ], |
| "video_views_per_sample": [ |
| 6, |
| 7 |
| ], |
| "payload_bytes": 1155450261 |
| }, |
| { |
| "dataset_slug": "agibotworld_beta_no_torso", |
| "source_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "samples": 5, |
| "frames": 3544, |
| "duration_seconds": 118.133, |
| "state_dims": [ |
| 55 |
| ], |
| "action_dims": [ |
| 36 |
| ], |
| "robot_types": [ |
| "a2d" |
| ], |
| "video_views_per_sample": [ |
| 3 |
| ], |
| "payload_bytes": 130155560 |
| }, |
| { |
| "dataset_slug": "hiw_500", |
| "source_dataset": "HIW-500-LeRobot-v2", |
| "samples": 5, |
| "frames": 3494, |
| "duration_seconds": 116.467, |
| "state_dims": [ |
| 29 |
| ], |
| "action_dims": [ |
| 23 |
| ], |
| "robot_types": [ |
| "unitree_g1" |
| ], |
| "video_views_per_sample": [ |
| 3 |
| ], |
| "payload_bytes": 228655297 |
| }, |
| { |
| "dataset_slug": "humanoid_everyday_g1", |
| "source_dataset": "humanoid-everyday_v21_g1", |
| "samples": 5, |
| "frames": 1949, |
| "duration_seconds": 64.967, |
| "state_dims": [ |
| 69 |
| ], |
| "action_dims": [ |
| 28 |
| ], |
| "robot_types": [ |
| "g1" |
| ], |
| "video_views_per_sample": [ |
| 1 |
| ], |
| "payload_bytes": 405117815 |
| }, |
| { |
| "dataset_slug": "humanoid_everyday_h1", |
| "source_dataset": "humanoid-everyday_v21_h1", |
| "samples": 5, |
| "frames": 1957, |
| "duration_seconds": 65.234, |
| "state_dims": [ |
| 65 |
| ], |
| "action_dims": [ |
| 26 |
| ], |
| "robot_types": [ |
| "h1" |
| ], |
| "video_views_per_sample": [ |
| 1 |
| ], |
| "payload_bytes": 441092876 |
| }, |
| { |
| "dataset_slug": "icra_wbc", |
| "source_dataset": "icra_wbc_v21", |
| "samples": 5, |
| "frames": 7710, |
| "duration_seconds": 257.0, |
| "state_dims": [ |
| 31 |
| ], |
| "action_dims": [ |
| 44 |
| ], |
| "robot_types": [ |
| "unitree_g2" |
| ], |
| "video_views_per_sample": [ |
| 6 |
| ], |
| "payload_bytes": 2196282481 |
| }, |
| { |
| "dataset_slug": "realsource_world", |
| "source_dataset": "RealSourceData/RealSource-World", |
| "samples": 5, |
| "frames": 9553, |
| "duration_seconds": 318.433, |
| "state_dims": [ |
| 71 |
| ], |
| "action_dims": [ |
| 17 |
| ], |
| "robot_types": [ |
| "RS-02" |
| ], |
| "video_views_per_sample": [ |
| 3 |
| ], |
| "payload_bytes": 197747717 |
| }, |
| { |
| "dataset_slug": "unitreerobotics", |
| "source_dataset": "unitreerobotics_v21", |
| "samples": 5, |
| "frames": 3373, |
| "duration_seconds": 112.433, |
| "state_dims": [ |
| 50, |
| 60, |
| 83 |
| ], |
| "action_dims": [ |
| 50, |
| 60, |
| 97 |
| ], |
| "robot_types": [ |
| "unitree_g1" |
| ], |
| "video_views_per_sample": [ |
| 2, |
| 4 |
| ], |
| "payload_bytes": 179381113 |
| } |
| ], |
| "samples": [ |
| { |
| "bundle_sample_id": "agibotworld2026/sample_00", |
| "logical_dataset": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312", |
| "episode_index": 42, |
| "task": "Homestay 2-World Model.", |
| "frames": 1528, |
| "fps": 30, |
| "duration_seconds": 50.933, |
| "state_dim": 193, |
| "action_dim": 44, |
| "selection_source": "agibotworld2026.json", |
| "source_relative_root": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data", |
| "robot_type": "g2a", |
| "files": [ |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld2026/sample_00/source_meta/info.json", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/meta/info.json", |
| "size_bytes": 387448, |
| "sha256": "0bafd15ff5c8432e4d962605d7abf52c4add5597acca517b2d42befbd01996ed" |
| }, |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld2026/sample_00/data.parquet", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/data/chunk-000/episode_000042.parquet", |
| "size_bytes": 1845084, |
| "sha256": "0b59e917889e7859d3f2153e18c4752c9d4afa10ea096e7d4cdd868a64130cac" |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_left", |
| "path": "agibotworld2026/sample_00/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.hand_left/episode_000042.mp4", |
| "size_bytes": 1738978, |
| "sha256": "94af8e99af22585b5be9c7bf32c8afa8c9f394f9f9c967ae13f58b2bc2229fe3", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_right", |
| "path": "agibotworld2026/sample_00/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.hand_right/episode_000042.mp4", |
| "size_bytes": 1978695, |
| "sha256": "4f4cd25ac1e8f2089dab3cd81371e5c9bcf025ac5bf50311f7844c704180ded3", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_back_fisheye", |
| "path": "agibotworld2026/sample_00/videos/observation.images.head_back_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.head_back_fisheye/episode_000042.mp4", |
| "size_bytes": 1422814, |
| "sha256": "2317ebbf5da22f188205792d4b9212b67f9161751bf2d746383e068c65e3b6fc", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_depth", |
| "path": "agibotworld2026/sample_00/videos/observation.images.head_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.head_depth/episode_000042.mp4", |
| "size_bytes": 222449251, |
| "sha256": "11c07e675555c6ce9857a290026cabb0d52e8483a11c57ee76a22cb54c6392bd", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_left_fisheye", |
| "path": "agibotworld2026/sample_00/videos/observation.images.head_left_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.head_left_fisheye/episode_000042.mp4", |
| "size_bytes": 2375987, |
| "sha256": "08345ec4beba357864762c0dd63dbf70baac5bda314b84bd4e644d94a565847d", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_right_fisheye", |
| "path": "agibotworld2026/sample_00/videos/observation.images.head_right_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.head_right_fisheye/episode_000042.mp4", |
| "size_bytes": 2010675, |
| "sha256": "0535a9819d839deda7cf8ef86e430d129a44873b19c07ca40b7a891c54a0a1a3", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.top_head", |
| "path": "agibotworld2026/sample_00/videos/observation.images.top_head.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/Home/task_5015/624859_634312/data/videos/chunk-000/observation.images.top_head/episode_000042.mp4", |
| "size_bytes": 1087181, |
| "sha256": "72a7ff7d8d662f6b92bc1536dc22e962b38f9efff87deed1fe43a423cfbfa8f7", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1528 |
| } |
| } |
| ], |
| "payload_bytes": 235296113, |
| "video_count": 7 |
| }, |
| { |
| "bundle_sample_id": "agibotworld2026/sample_01", |
| "logical_dataset": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251", |
| "episode_index": 98, |
| "task": "Cinema-World Model", |
| "frames": 1674, |
| "fps": 30, |
| "duration_seconds": 55.8, |
| "state_dim": 162, |
| "action_dim": 44, |
| "selection_source": "agibotworld2026.json", |
| "source_relative_root": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data", |
| "robot_type": "g2a", |
| "files": [ |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld2026/sample_01/source_meta/info.json", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/meta/info.json", |
| "size_bytes": 390405, |
| "sha256": "161546fedb54837f958f6c9437746139edd1db3ee98ffa4c3842f7a057a2af84" |
| }, |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld2026/sample_01/data.parquet", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/data/chunk-000/episode_000098.parquet", |
| "size_bytes": 1500917, |
| "sha256": "184a5da2af3415b1eb067080499a6ee292134d77611a1323acf089d96bb27296" |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_left", |
| "path": "agibotworld2026/sample_01/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.hand_left/episode_000098.mp4", |
| "size_bytes": 2040916, |
| "sha256": "fb77e0540cb3b62987add8457e80adadb819e19e48a37c1b582fceb3f5254b46", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_right", |
| "path": "agibotworld2026/sample_01/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.hand_right/episode_000098.mp4", |
| "size_bytes": 2596687, |
| "sha256": "bde4e54cff69e8590f7f69d580cc6b906adf602c08aa24587a21b1925c9c64d3", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_back_fisheye", |
| "path": "agibotworld2026/sample_01/videos/observation.images.head_back_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.head_back_fisheye/episode_000098.mp4", |
| "size_bytes": 1565914, |
| "sha256": "5de487166af6b54fc67b8e5e63f3c419cb8c47fff6045e392a734b4fd0483949", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_depth", |
| "path": "agibotworld2026/sample_01/videos/observation.images.head_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.head_depth/episode_000098.mp4", |
| "size_bytes": 229192486, |
| "sha256": "56a4699bc184ef2bf4d516ef593934faf3012b3ab8dd40a7b6fb7c81991b4578", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_left_fisheye", |
| "path": "agibotworld2026/sample_01/videos/observation.images.head_left_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.head_left_fisheye/episode_000098.mp4", |
| "size_bytes": 2050573, |
| "sha256": "61a5d3e7a3d1ab2b87d8b0ec76c7e1aa9de885500783322e35f18d34c06ded03", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_right_fisheye", |
| "path": "agibotworld2026/sample_01/videos/observation.images.head_right_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.head_right_fisheye/episode_000098.mp4", |
| "size_bytes": 2682760, |
| "sha256": "65f57d3d2dd50ca2d068f35434dc77563e257bdaf23ac4e5aae812dc24c80908", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.top_head", |
| "path": "agibotworld2026/sample_01/videos/observation.images.top_head.mp4", |
| "source_relative_path": "AgibotWorld2026/RichInteraction/CommercialSpaces/task_4158/409503_416251/data/videos/chunk-000/observation.images.top_head/episode_000098.mp4", |
| "size_bytes": 1668428, |
| "sha256": "f4ecf2d81198e6c775e4c4f20515c400b9baf119e2aaa666b62de54dbcb9a466", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1674 |
| } |
| } |
| ], |
| "payload_bytes": 243689086, |
| "video_count": 7 |
| }, |
| { |
| "bundle_sample_id": "agibotworld2026/sample_02", |
| "logical_dataset": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730", |
| "episode_index": 29, |
| "task": "General Merchandise Area - Pushang Fresh Food.", |
| "frames": 851, |
| "fps": 30, |
| "duration_seconds": 28.367, |
| "state_dim": 169, |
| "action_dim": 40, |
| "selection_source": "agibotworld2026.json", |
| "source_relative_root": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data", |
| "robot_type": "g2a", |
| "files": [ |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld2026/sample_02/source_meta/info.json", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/meta/info.json", |
| "size_bytes": 1130675, |
| "sha256": "bec97961253766bfa840dab0bd4687fe3b385f16d7dd8806ae90a3c4a9064391" |
| }, |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld2026/sample_02/data.parquet", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/data/chunk-000/episode_000029.parquet", |
| "size_bytes": 694580, |
| "sha256": "1a03a91e711277d79b9c667d1e8c36d5e398e5226b00b995d1dbc56360768fad" |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_left", |
| "path": "agibotworld2026/sample_02/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.hand_left/episode_000029.mp4", |
| "size_bytes": 1442281, |
| "sha256": "0acf2935e57efbb8304074d700dac7dec629858f6fe076c4441fbddc475a557b", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_right", |
| "path": "agibotworld2026/sample_02/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.hand_right/episode_000029.mp4", |
| "size_bytes": 1409866, |
| "sha256": "289eaab53c1ed5876bd0ad7b70176b4f96ebb56ee3815fe7bca04b494e7f40be", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_back_fisheye", |
| "path": "agibotworld2026/sample_02/videos/observation.images.head_back_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.head_back_fisheye/episode_000029.mp4", |
| "size_bytes": 1398041, |
| "sha256": "660a18b540723f7c7d717592cc2ac0aff9e384d3e41a4c25a1719ba8400303b3", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_depth", |
| "path": "agibotworld2026/sample_02/videos/observation.images.head_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.head_depth/episode_000029.mp4", |
| "size_bytes": 126824543, |
| "sha256": "dbd6ee04a9bbbb52e240fc8b60c92e7e364b60bb779113342e232937cdf173c4", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_left_fisheye", |
| "path": "agibotworld2026/sample_02/videos/observation.images.head_left_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.head_left_fisheye/episode_000029.mp4", |
| "size_bytes": 1881057, |
| "sha256": "db90ca186c5bb1db7daa6c5bca08ffbc40f08d5a558361fc7ed3a0e4e68cf775", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_right_fisheye", |
| "path": "agibotworld2026/sample_02/videos/observation.images.head_right_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.head_right_fisheye/episode_000029.mp4", |
| "size_bytes": 1900218, |
| "sha256": "1eb6d6149e01bc294c87ad3798a6ffcc94c4d393f51a6c039c34fca6b26cf66a", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.top_head", |
| "path": "agibotworld2026/sample_02/videos/observation.images.top_head.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3404/305627_321730/data/videos/chunk-000/observation.images.top_head/episode_000029.mp4", |
| "size_bytes": 1237971, |
| "sha256": "5e926681273d75ae66b5a6e508d959b78bb46c373822a99073567bc61dd0813f", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 851 |
| } |
| } |
| ], |
| "payload_bytes": 137919232, |
| "video_count": 7 |
| }, |
| { |
| "bundle_sample_id": "agibotworld2026/sample_03", |
| "logical_dataset": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774", |
| "episode_index": 42, |
| "task": "Food Area - Pushang Fresh Food.", |
| "frames": 901, |
| "fps": 30, |
| "duration_seconds": 30.033, |
| "state_dim": 162, |
| "action_dim": 40, |
| "selection_source": "agibotworld2026.json", |
| "source_relative_root": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data", |
| "robot_type": "g2a", |
| "files": [ |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld2026/sample_03/source_meta/info.json", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/meta/info.json", |
| "size_bytes": 1251390, |
| "sha256": "d54c0b65f3335e22a4bbb1e7a088d111151d4421105698aef583cd3fe042a1a8" |
| }, |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld2026/sample_03/data.parquet", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/data/chunk-000/episode_000042.parquet", |
| "size_bytes": 667250, |
| "sha256": "414eb98c1669c85bfad645cc983d6926c5d9bb038b036dbf927a62633a171f74" |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_left", |
| "path": "agibotworld2026/sample_03/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.hand_left/episode_000042.mp4", |
| "size_bytes": 1598772, |
| "sha256": "c708c95252b7cedf3bfe0b0646272557f949e79b48ee3ec8f8558bc32071a149", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_right", |
| "path": "agibotworld2026/sample_03/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.hand_right/episode_000042.mp4", |
| "size_bytes": 1536501, |
| "sha256": "222c710161ea96dcd0f2c7c27666009684679c7b873d855904239cbe8f7c3ab0", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 528, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_back_fisheye", |
| "path": "agibotworld2026/sample_03/videos/observation.images.head_back_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.head_back_fisheye/episode_000042.mp4", |
| "size_bytes": 1964228, |
| "sha256": "8d91e4a0b793603e3c289e06343c654a7b0d9845c2a38525dce5e59a44385c31", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_depth", |
| "path": "agibotworld2026/sample_03/videos/observation.images.head_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.head_depth/episode_000042.mp4", |
| "size_bytes": 104612425, |
| "sha256": "634ca9eddd8221145611be3c3b38a6f3cba5ac5a28b75855e1eef1a26c9cce4d", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_left_fisheye", |
| "path": "agibotworld2026/sample_03/videos/observation.images.head_left_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.head_left_fisheye/episode_000042.mp4", |
| "size_bytes": 2419185, |
| "sha256": "1057ec65f1ada228658a36be5e9558f6b091526e7c35f777273f584e71996afb", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.head_right_fisheye", |
| "path": "agibotworld2026/sample_03/videos/observation.images.head_right_fisheye.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.head_right_fisheye/episode_000042.mp4", |
| "size_bytes": 2219685, |
| "sha256": "b00a772d4e1de3d45acb06f3c87c8532e20b49a7fbe06010ef155c469dcde968", |
| "video": { |
| "codec_name": "av1", |
| "width": 960, |
| "height": 768, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.top_head", |
| "path": "agibotworld2026/sample_03/videos/observation.images.top_head.mp4", |
| "source_relative_path": "AgibotWorld2026/ImitationLearning/CommercialSpaces/task_3641/306569_307774/data/videos/chunk-000/observation.images.top_head/episode_000042.mp4", |
| "size_bytes": 1521431, |
| "sha256": "ba339346571246d54e125a97b49b8d6723e6a492dbaf53dddc5944bad65668ea", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 901 |
| } |
| } |
| ], |
| "payload_bytes": 117790867, |
| "video_count": 7 |
| }, |
| { |
| "bundle_sample_id": "agibotworld2026/sample_04", |
| "logical_dataset": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker", |
| "episode_index": 98, |
| "task": "Organize shelf food-SIM-AW2", |
| "frames": 399, |
| "fps": 30, |
| "duration_seconds": 13.3, |
| "state_dim": 183, |
| "action_dim": 40, |
| "patch_overlay": { |
| "source_root": "/mnt/data/dataset/PretrainData_v21/Humanoid/AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite_depth_patch", |
| "relationship": "Depth-only sidecar overlay for the same episode_index; parquet and RGB videos come from lite" |
| }, |
| "selection_source": "agibotworld2026.json", |
| "source_relative_root": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite", |
| "robot_type": "g2a", |
| "files": [ |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld2026/sample_04/source_meta/info.json", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite/meta/info.json", |
| "size_bytes": 752805, |
| "sha256": "fc922a675322097927996525f2fbee2c2aafdd559f17ca4e4f15cd48f771f581" |
| }, |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld2026/sample_04/data.parquet", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite/data/chunk-000/episode_000098.parquet", |
| "size_bytes": 389694, |
| "sha256": "c6e82a43407f4bb588f9de4622a12eae761c3cf5b76d11447123903bf93ff77b" |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_left", |
| "path": "agibotworld2026/sample_04/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite/videos/chunk-000/observation.images.hand_left/episode_000098.mp4", |
| "size_bytes": 14495764, |
| "sha256": "5e37c5d4ad342e8f6aa710e2014ea3f2c85d152816231316bad9543426465341", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.hand_right", |
| "path": "agibotworld2026/sample_04/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite/videos/chunk-000/observation.images.hand_right/episode_000098.mp4", |
| "size_bytes": 13336465, |
| "sha256": "a0f5b351449d1b28e8d6f3370354786ce7673ec243a2dc7332a90f1301aebff7", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": "observation.images.top_head", |
| "path": "agibotworld2026/sample_04/videos/observation.images.top_head.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite/videos/chunk-000/observation.images.top_head/episode_000098.mp4", |
| "size_bytes": 4535983, |
| "sha256": "20869c0e814bb704f7925f393a866b119cebb6f1fe95b3db12d019d552b8bf60", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": "observation.images.hand_left_depth", |
| "path": "agibotworld2026/sample_04/sidecars/observation.images.hand_left_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite_depth_patch/videos/chunk-000/observation.images.hand_left_depth/episode_000098.mp4", |
| "size_bytes": 170591759, |
| "sha256": "db6ef0420cff3719ebf97f8bdbc5790d3e536f09cac01e1d08c31a0097ed4c33", |
| "video": { |
| "codec_name": "png", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": "observation.images.hand_right_depth", |
| "path": "agibotworld2026/sample_04/sidecars/observation.images.hand_right_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite_depth_patch/videos/chunk-000/observation.images.hand_right_depth/episode_000098.mp4", |
| "size_bytes": 194732024, |
| "sha256": "9e9d8cb6a4488b29ecc4b523d96a2b6a65aed6ddcf49c35676ef61536ae77ab0", |
| "video": { |
| "codec_name": "png", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": "observation.images.head_depth", |
| "path": "agibotworld2026/sample_04/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "AgibotWorld2026/simulation/take_bagged_food_to_cart/g2_swift_picker/lite_depth_patch/videos/chunk-000/observation.images.head_depth/episode_000098.mp4", |
| "size_bytes": 21920469, |
| "sha256": "de22338391f007b06af8424cceb45343c1b55427c6c1ce280fb1e215f8e70ef6", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| } |
| ], |
| "payload_bytes": 420754963, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "agibotworld_beta_no_torso/sample_00", |
| "logical_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "episode_index": 482, |
| "task": "Pickup items in the supermarket | The robot is in front of the supermarket shelf, with a shopping cart beside it.", |
| "frames": 700, |
| "fps": 30, |
| "state_dim": 55, |
| "action_dim": 36, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 23.333, |
| "source_relative_root": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354", |
| "robot_type": "a2d", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_00/data.parquet", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354/data/chunk-000/episode_000482.parquet", |
| "size_bytes": 162360, |
| "sha256": "32afd9c613a40b5e720105d0f97435dad6317765b4c9a8665c96de7134568a20" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_00/videos/observation.images.head.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354/videos/chunk-000/observation.images.head/episode_000482.mp4", |
| "size_bytes": 16894590, |
| "sha256": "15fa210988ae847bdc01a81c8174239c06431960a3eec3aaf57ec94f992cc4eb", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 700 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_00/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354/videos/chunk-000/observation.images.hand_left/episode_000482.mp4", |
| "size_bytes": 14461687, |
| "sha256": "66ff2ddccb08e3eecdbc1fed3ecdd654f87b67c8baf97c0406684f35e00f0774", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 700 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_00/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354/videos/chunk-000/observation.images.hand_right/episode_000482.mp4", |
| "size_bytes": 12236961, |
| "sha256": "66be469409a57c2f4339ee39d811aecf2594c76950039f2c71c60875ddb21aa8", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 700 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_00/source_meta/info.json", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_354/meta/info.json", |
| "size_bytes": 6657, |
| "sha256": "69a02991a12492d0949874b4d57e5f33ab9331c6ccb0a9e2ace3960a0e70d4aa" |
| } |
| ], |
| "payload_bytes": 43762255, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "agibotworld_beta_no_torso/sample_01", |
| "logical_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "episode_index": 356, |
| "task": "Water Pouring in Restaurant | Within the robot's operating range, there is an empty cup and a teapot containing colored tea. The initial positions of the teapot and cup are alternated every 20 cycles, with the teapot and cup being paired together.", |
| "frames": 738, |
| "fps": 30, |
| "state_dim": 55, |
| "action_dim": 36, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 24.6, |
| "source_relative_root": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410", |
| "robot_type": "a2d", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_01/data.parquet", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410/data/chunk-000/episode_000356.parquet", |
| "size_bytes": 241442, |
| "sha256": "1cf82ace1681523a06ee22b0550dbd954b36f2eb4fff973354857428439062b1" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_01/videos/observation.images.head.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410/videos/chunk-000/observation.images.head/episode_000356.mp4", |
| "size_bytes": 8829959, |
| "sha256": "d57e3bbe643068ce55cb8b42f4a23e5bbd0003bc41638789e9d464737bf3da44", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 738 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_01/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410/videos/chunk-000/observation.images.hand_left/episode_000356.mp4", |
| "size_bytes": 5966563, |
| "sha256": "6c970a0a9b52aba841863a5e596d52111fc5681a50e5a23fedf722e00160c019", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 738 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_01/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410/videos/chunk-000/observation.images.hand_right/episode_000356.mp4", |
| "size_bytes": 6708326, |
| "sha256": "78c9d961164b1d71df1fbc9b5c706243939390dd063f979ca7f751e1e7d5f67a", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 738 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_01/source_meta/info.json", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_410/meta/info.json", |
| "size_bytes": 6659, |
| "sha256": "e2ba9e4d380925608134773e77d2c49ea2532da30879ede3a2ad3cfa72e2577c" |
| } |
| ], |
| "payload_bytes": 21752949, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "agibotworld_beta_no_torso/sample_02", |
| "logical_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "episode_index": 70, |
| "task": "Grab the toy | The robot is facing the table, on which there are storage boxes and toys.", |
| "frames": 698, |
| "fps": 30, |
| "state_dim": 55, |
| "action_dim": 36, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 23.267, |
| "source_relative_root": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619", |
| "robot_type": "a2d", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_02/data.parquet", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619/data/chunk-000/episode_000070.parquet", |
| "size_bytes": 149426, |
| "sha256": "a098055be285be94f7b691948f7c2a298d2cec4de97bb56248b2cc393d1433a7" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_02/videos/observation.images.head.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619/videos/chunk-000/observation.images.head/episode_000070.mp4", |
| "size_bytes": 5102004, |
| "sha256": "ef7a3b7307c3be2dd11dac122e334fff97e1c4edd7f392614d99009965d535a3", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 698 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_02/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619/videos/chunk-000/observation.images.hand_left/episode_000070.mp4", |
| "size_bytes": 5482104, |
| "sha256": "f5f6f3308a3734035f8f4f6c966117466b6a3845887dafbd72be95fa69dd8619", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 698 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_02/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619/videos/chunk-000/observation.images.hand_right/episode_000070.mp4", |
| "size_bytes": 5494463, |
| "sha256": "3b8284abe3ef1b4270bf3e5962b176a2d9aa6b0347e439047dfab8f8306c3781", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 698 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_02/source_meta/info.json", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_619/meta/info.json", |
| "size_bytes": 6656, |
| "sha256": "3afd8a1894cebc6c1bffdc4ad4a589a17743bacd36b0b024f9c127732ad4fa08" |
| } |
| ], |
| "payload_bytes": 16234653, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "agibotworld_beta_no_torso/sample_03", |
| "logical_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "episode_index": 129, |
| "task": "Strike the gong | The display board is positioned at the entrance of the store, with the robot's left arm holding a gong and its right arm holding a mallet.", |
| "frames": 709, |
| "fps": 30, |
| "state_dim": 55, |
| "action_dim": 36, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 23.633, |
| "source_relative_root": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729", |
| "robot_type": "a2d", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_03/data.parquet", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729/data/chunk-000/episode_000129.parquet", |
| "size_bytes": 163613, |
| "sha256": "b69c6dbfbe02a92f1bc6fc7d54d09e0e4a68cd6757aab244d49e4e93e68aa466" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_03/videos/observation.images.head.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729/videos/chunk-000/observation.images.head/episode_000129.mp4", |
| "size_bytes": 8566908, |
| "sha256": "7658bcbb1ea2bc0289a5af2d6f70135b139d85f7d8bb2de82844906c2985df61", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 709 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_03/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729/videos/chunk-000/observation.images.hand_left/episode_000129.mp4", |
| "size_bytes": 7816220, |
| "sha256": "68f48ff10d814ba69e488946535312757e5d516ba69939d2d05b6e8956ddfacf", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 709 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_03/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729/videos/chunk-000/observation.images.hand_right/episode_000129.mp4", |
| "size_bytes": 5990119, |
| "sha256": "76d2cef20ffaf7ab63be4bc302c38c74d16255b2e481b2bf258b461767b489d1", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 709 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_03/source_meta/info.json", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_729/meta/info.json", |
| "size_bytes": 6657, |
| "sha256": "7fb3b89457a81833023b27c478f0b4db9689bd579988a4fc9bdd67aa240f4212" |
| } |
| ], |
| "payload_bytes": 22543517, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "agibotworld_beta_no_torso/sample_04", |
| "logical_dataset": "AgiBot-World-Beta-no-torso-movement_v21", |
| "episode_index": 104, |
| "task": "Tie the curtain sash | The robot faced the untied curtains, with the curtain tie wrapped around the curtains and held in hand.", |
| "frames": 699, |
| "fps": 30, |
| "state_dim": 55, |
| "action_dim": 36, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 23.3, |
| "source_relative_root": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734", |
| "robot_type": "a2d", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_04/data.parquet", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734/data/chunk-000/episode_000104.parquet", |
| "size_bytes": 182494, |
| "sha256": "92c17d3a6409fd485ae9901275683a8ff2056d0cdf04fd125b4b53d38dcc5cb4" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_04/videos/observation.images.head.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734/videos/chunk-000/observation.images.head/episode_000104.mp4", |
| "size_bytes": 5669271, |
| "sha256": "f3c798b750c85ae3028fb6ae3748009a185ab1bdbf3c0f63d62f3ad534e8f0da", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 699 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_04/videos/observation.images.hand_left.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734/videos/chunk-000/observation.images.hand_left/episode_000104.mp4", |
| "size_bytes": 10483432, |
| "sha256": "15d3c41ac92e1177b4a2887e9461fdb787a3b6f370a343f1576ed1aabca51b1f", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 699 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_04/videos/observation.images.hand_right.mp4", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734/videos/chunk-000/observation.images.hand_right/episode_000104.mp4", |
| "size_bytes": 9520333, |
| "sha256": "12ea48efb32d4c2178f70cc6a89de49fa2560210a3cf813ba0c084211bedbc80", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 699 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "agibotworld_beta_no_torso/sample_04/source_meta/info.json", |
| "source_relative_path": "AgiBot-World-Beta-no-torso-movement_v21/tasks/task_734/meta/info.json", |
| "size_bytes": 6656, |
| "sha256": "e3253da20bb70abab2a4444d81d07c59d6f5ef4a7d3430db0f49d6638d0047ec" |
| } |
| ], |
| "payload_bytes": 25862186, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "hiw_500/sample_00", |
| "logical_dataset": "HIW-500-LeRobot-v2", |
| "episode_index": 1445, |
| "task": "clean up the room", |
| "frames": 925, |
| "fps": 30, |
| "state_dim": 29, |
| "action_dim": 23, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 30.833, |
| "source_relative_root": "HIW-500-LeRobot-v2", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "hiw_500/sample_00/data.parquet", |
| "source_relative_path": "HIW-500-LeRobot-v2/data/chunk-001/episode_001445.parquet", |
| "size_bytes": 319062, |
| "sha256": "2ffa45f5b4aceb8410083230ea3b4ae04456818b433283fb9d57893d7b5282a7" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_00/videos/observation.images.head.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-001/observation.images.head/episode_001445.mp4", |
| "size_bytes": 21644957, |
| "sha256": "19fa2989a6e31b6d9fefde9932776599034ebbaefc6521507ec9b940192dd5ad", |
| "video": { |
| "codec_name": "av1", |
| "width": 1280, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 925 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_00/videos/observation.images.left_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-001/observation.images.left_wrist/episode_001445.mp4", |
| "size_bytes": 8589338, |
| "sha256": "0674799c8169093636950c017ef07b17fbe70f7053fcaeb0ab3190c6698915a9", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 925 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_00/videos/observation.images.right_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-001/observation.images.right_wrist/episode_001445.mp4", |
| "size_bytes": 8051007, |
| "sha256": "d40cbbe3fa8fcb10df3ad53aa50c090cb8571b117359b32de675636f0cb9ff6a", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 925 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "hiw_500/sample_00/source_meta/info.json", |
| "source_relative_path": "HIW-500-LeRobot-v2/meta/info.json", |
| "size_bytes": 7097, |
| "sha256": "4a12eee25eea82916f53c3875c98826bc31a2aa942e6181cc7f743832d7c64a1" |
| } |
| ], |
| "payload_bytes": 38611461, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "hiw_500/sample_01", |
| "logical_dataset": "HIW-500-LeRobot-v2", |
| "episode_index": 5016, |
| "task": "hang hanger", |
| "frames": 780, |
| "fps": 30, |
| "state_dim": 29, |
| "action_dim": 23, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 26.0, |
| "source_relative_root": "HIW-500-LeRobot-v2", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "hiw_500/sample_01/data.parquet", |
| "source_relative_path": "HIW-500-LeRobot-v2/data/chunk-005/episode_005016.parquet", |
| "size_bytes": 287200, |
| "sha256": "d371f8049f117e3313695237d7fabf8096fb84d4ca660ae24d25624024ed54c9" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_01/videos/observation.images.head.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-005/observation.images.head/episode_005016.mp4", |
| "size_bytes": 30590409, |
| "sha256": "ff844885c3aae5c68535ef89f012156a4f7c10d10d1c21d543699fa515662e69", |
| "video": { |
| "codec_name": "av1", |
| "width": 1280, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 780 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_01/videos/observation.images.left_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-005/observation.images.left_wrist/episode_005016.mp4", |
| "size_bytes": 18489624, |
| "sha256": "b012306d1a42f6f8501cf374f3b6ff55a2ba05c4cb6f1dcdc4fa9ce2c2f3486f", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 780 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_01/videos/observation.images.right_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-005/observation.images.right_wrist/episode_005016.mp4", |
| "size_bytes": 20527375, |
| "sha256": "fb898b2fd4013361f7407a50477d276c2c8ea6efd3ff7418834234986781dbd0", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 780 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "hiw_500/sample_01/source_meta/info.json", |
| "source_relative_path": "HIW-500-LeRobot-v2/meta/info.json", |
| "size_bytes": 7097, |
| "sha256": "4a12eee25eea82916f53c3875c98826bc31a2aa942e6181cc7f743832d7c64a1" |
| } |
| ], |
| "payload_bytes": 69901705, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "hiw_500/sample_02", |
| "logical_dataset": "HIW-500-LeRobot-v2", |
| "episode_index": 3027, |
| "task": "kitchen organization", |
| "frames": 599, |
| "fps": 30, |
| "state_dim": 29, |
| "action_dim": 23, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 19.967, |
| "source_relative_root": "HIW-500-LeRobot-v2", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "hiw_500/sample_02/data.parquet", |
| "source_relative_path": "HIW-500-LeRobot-v2/data/chunk-003/episode_003027.parquet", |
| "size_bytes": 220618, |
| "sha256": "3b043aabfe598702f44054fb718b452f3f567605d2a473604751ef4ebd7ffa06" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_02/videos/observation.images.head.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.head/episode_003027.mp4", |
| "size_bytes": 27596711, |
| "sha256": "3ea67b459f344777bd6154901d91c7798db85f91e2c3f1b49adbbd1dad0ee66f", |
| "video": { |
| "codec_name": "av1", |
| "width": 1280, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 599 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_02/videos/observation.images.left_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.left_wrist/episode_003027.mp4", |
| "size_bytes": 14265161, |
| "sha256": "6cb43825149e0ba24682fc9492992afb7bc4a662f34e1ded85087868bc21c207", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 599 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_02/videos/observation.images.right_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.right_wrist/episode_003027.mp4", |
| "size_bytes": 16478347, |
| "sha256": "983ed7a6bd4912ca6da9aca0c05581f7472526c729123237bd035a939b2825b5", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 599 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "hiw_500/sample_02/source_meta/info.json", |
| "source_relative_path": "HIW-500-LeRobot-v2/meta/info.json", |
| "size_bytes": 7097, |
| "sha256": "4a12eee25eea82916f53c3875c98826bc31a2aa942e6181cc7f743832d7c64a1" |
| } |
| ], |
| "payload_bytes": 58567934, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "hiw_500/sample_03", |
| "logical_dataset": "HIW-500-LeRobot-v2", |
| "episode_index": 3297, |
| "task": "restocking fridge", |
| "frames": 590, |
| "fps": 30, |
| "state_dim": 29, |
| "action_dim": 23, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 19.667, |
| "source_relative_root": "HIW-500-LeRobot-v2", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "hiw_500/sample_03/data.parquet", |
| "source_relative_path": "HIW-500-LeRobot-v2/data/chunk-003/episode_003297.parquet", |
| "size_bytes": 218214, |
| "sha256": "52edb882d4f4a01fc19cb7596bd74e42f50d16a9b423b73f0b8366e881978954" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_03/videos/observation.images.head.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.head/episode_003297.mp4", |
| "size_bytes": 16074621, |
| "sha256": "f7d87c4b9ea728f9fdfb78cedc06a060db5cf92d39de4e7592503e192e5337a5", |
| "video": { |
| "codec_name": "av1", |
| "width": 1280, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 590 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_03/videos/observation.images.left_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.left_wrist/episode_003297.mp4", |
| "size_bytes": 7833301, |
| "sha256": "2c14149773104d0753c13b6647c9c640a7cb5038f5a764ad1d36fc4f483e0bf8", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 590 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_03/videos/observation.images.right_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-003/observation.images.right_wrist/episode_003297.mp4", |
| "size_bytes": 9312140, |
| "sha256": "c644e57bf251020bb7b12d19fa63d812fb21400312ec4e6c651fc79070d209ce", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 590 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "hiw_500/sample_03/source_meta/info.json", |
| "source_relative_path": "HIW-500-LeRobot-v2/meta/info.json", |
| "size_bytes": 7097, |
| "sha256": "4a12eee25eea82916f53c3875c98826bc31a2aa942e6181cc7f743832d7c64a1" |
| } |
| ], |
| "payload_bytes": 33445373, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "hiw_500/sample_04", |
| "logical_dataset": "HIW-500-LeRobot-v2", |
| "episode_index": 16625, |
| "task": "sweep floor", |
| "frames": 600, |
| "fps": 30, |
| "state_dim": 29, |
| "action_dim": 23, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 20.0, |
| "source_relative_root": "HIW-500-LeRobot-v2", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "hiw_500/sample_04/data.parquet", |
| "source_relative_path": "HIW-500-LeRobot-v2/data/chunk-016/episode_016625.parquet", |
| "size_bytes": 202045, |
| "sha256": "86585084ee5951b1d120152fcc39685370d4cae2a8f05ef83e232775883edbe1" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_04/videos/observation.images.head.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-016/observation.images.head/episode_016625.mp4", |
| "size_bytes": 22423760, |
| "sha256": "8183480a41791ec6a274d72ebd01b4dbc50858e0c805363de54b3dc19ca09ef6", |
| "video": { |
| "codec_name": "av1", |
| "width": 1280, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 600 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_04/videos/observation.images.left_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-016/observation.images.left_wrist/episode_016625.mp4", |
| "size_bytes": 2768551, |
| "sha256": "b823cabd49bc787762471705a0af9f378cdb895af3e4946c6879f61915a00a8d", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 600 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "hiw_500/sample_04/videos/observation.images.right_wrist.mp4", |
| "source_relative_path": "HIW-500-LeRobot-v2/videos/chunk-016/observation.images.right_wrist/episode_016625.mp4", |
| "size_bytes": 2727371, |
| "sha256": "9f32dfd6e56e13c543fa45152f1748fefc8dde784a114c90ffe8c6cba99cb422", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 600 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "hiw_500/sample_04/source_meta/info.json", |
| "source_relative_path": "HIW-500-LeRobot-v2/meta/info.json", |
| "size_bytes": 7097, |
| "sha256": "4a12eee25eea82916f53c3875c98826bc31a2aa942e6181cc7f743832d7c64a1" |
| } |
| ], |
| "payload_bytes": 28128824, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_g1/sample_00", |
| "logical_dataset": "humanoid-everyday_v21_g1", |
| "episode_index": 34, |
| "task": "Articulated/adjust_the_angle_of_a_phone_stand", |
| "frames": 401, |
| "fps": 30, |
| "state_dim": 69, |
| "action_dim": 28, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.367, |
| "source_relative_root": "humanoid-everyday_v21_g1", |
| "robot_type": "g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_00/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/data/chunk-000/episode_000034.parquet", |
| "size_bytes": 118914, |
| "sha256": "55a4c067a40bfdd66733379bcda2046de9d3e87d8560eae34b692db3c467b22c" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_00/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_g1/videos/chunk-000/egocentric/episode_000034.mp4", |
| "size_bytes": 552809, |
| "sha256": "ba2e494db6482ae78636b433d7c74f71fddf31fe1039ab3a1e6fc7c16a178026", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 401 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_00/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/ancillary/data/chunk-000/episode_000034.parquet", |
| "size_bytes": 85742007, |
| "sha256": "ffebc9f7407be079f796c79565f33b2f8f6119e5ed7fd86daeb416bec4830e82" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_00/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_g1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "8ae65ede7cb723f4f5d2ce8a7c869603970e2c7e2dfc664460b9efd06c5929ee" |
| } |
| ], |
| "payload_bytes": 86416274, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_g1/sample_01", |
| "logical_dataset": "humanoid-everyday_v21_g1", |
| "episode_index": 1294, |
| "task": "Basic/put_dumpling_into_plate_g1", |
| "frames": 399, |
| "fps": 30, |
| "state_dim": 69, |
| "action_dim": 28, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.3, |
| "source_relative_root": "humanoid-everyday_v21_g1", |
| "robot_type": "g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_01/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/data/chunk-001/episode_001294.parquet", |
| "size_bytes": 122621, |
| "sha256": "c089aff8e3d5c701f4bd3e8159cc051141f57b3dfda5cdfe2154a29803ca9a83" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_01/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_g1/videos/chunk-001/egocentric/episode_001294.mp4", |
| "size_bytes": 783845, |
| "sha256": "f74f5210a02a5eff15a786787cdedd1bbed9af168d9b300482611915aea11cec", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_01/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/ancillary/data/chunk-001/episode_001294.parquet", |
| "size_bytes": 80179314, |
| "sha256": "baca0c1d344eade440e9a36651771087c63dc5a56b1052c806c2a39127e2939d" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_01/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_g1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "8ae65ede7cb723f4f5d2ce8a7c869603970e2c7e2dfc664460b9efd06c5929ee" |
| } |
| ], |
| "payload_bytes": 81088324, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_g1/sample_02", |
| "logical_dataset": "humanoid-everyday_v21_g1", |
| "episode_index": 2618, |
| "task": "HRI/tear_toilet_paper_and_hand_it", |
| "frames": 399, |
| "fps": 30, |
| "state_dim": 69, |
| "action_dim": 28, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.3, |
| "source_relative_root": "humanoid-everyday_v21_g1", |
| "robot_type": "g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_02/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/data/chunk-002/episode_002618.parquet", |
| "size_bytes": 129861, |
| "sha256": "5f6db9139a1d568a7026b7d88e5dfaf2cfe114e5f4fbae7a2dc7a7b05ea86693" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_02/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_g1/videos/chunk-002/egocentric/episode_002618.mp4", |
| "size_bytes": 626480, |
| "sha256": "e4992df83db13041f8abd745567b4ea603191fb9adc402e2fcaab3284311a749", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_02/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/ancillary/data/chunk-002/episode_002618.parquet", |
| "size_bytes": 79585609, |
| "sha256": "d51caec6cbb1a92f3adf9e2e828d24305746376898e356ed56daeada37cddab2" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_02/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_g1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "8ae65ede7cb723f4f5d2ce8a7c869603970e2c7e2dfc664460b9efd06c5929ee" |
| } |
| ], |
| "payload_bytes": 80344494, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_g1/sample_03", |
| "logical_dataset": "humanoid-everyday_v21_g1", |
| "episode_index": 3314, |
| "task": "Locomanip/walk_towards_a_desk_and_turn_on_the_boiling_pot", |
| "frames": 383, |
| "fps": 30, |
| "state_dim": 69, |
| "action_dim": 28, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 12.767, |
| "source_relative_root": "humanoid-everyday_v21_g1", |
| "robot_type": "g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_03/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/data/chunk-003/episode_003314.parquet", |
| "size_bytes": 130054, |
| "sha256": "42bff49a51f666f29ba361371ce5797ae6e3ce090e5e1257eb4528a5740f33d1" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_03/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_g1/videos/chunk-003/egocentric/episode_003314.mp4", |
| "size_bytes": 668029, |
| "sha256": "d714f4668d3b131ca578f3d669eebf078b7ca1d47bfaa4973cfe21ee8967c9d0", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 383 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_03/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/ancillary/data/chunk-003/episode_003314.parquet", |
| "size_bytes": 78864342, |
| "sha256": "017d2e4ab0111e1df1e8013adf504c5d9f1cd39eca9796333d0acfb3bbd1eb4f" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_03/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_g1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "8ae65ede7cb723f4f5d2ce8a7c869603970e2c7e2dfc664460b9efd06c5929ee" |
| } |
| ], |
| "payload_bytes": 79664969, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_g1/sample_04", |
| "logical_dataset": "humanoid-everyday_v21_g1", |
| "episode_index": 4057, |
| "task": "Tool_use/use_the_hole_punch", |
| "frames": 367, |
| "fps": 30, |
| "state_dim": 69, |
| "action_dim": 28, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 12.233, |
| "source_relative_root": "humanoid-everyday_v21_g1", |
| "robot_type": "g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_04/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/data/chunk-004/episode_004057.parquet", |
| "size_bytes": 122614, |
| "sha256": "24224a06dc0a55407d759871762d4013af00a76533a7b0c776f22404ee82f641" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_04/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_g1/videos/chunk-004/egocentric/episode_004057.mp4", |
| "size_bytes": 493403, |
| "sha256": "bd8413829fd8130d5c92ec2b2ed14b6462544a8b380ae2ee2f8f35301c90eb8b", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 367 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_04/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_g1/ancillary/data/chunk-004/episode_004057.parquet", |
| "size_bytes": 76985193, |
| "sha256": "c5a6bbbf7fb14adee6b11c886bb367e40b709d6fac457fcbc890c511d6340d34" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_g1/sample_04/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_g1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "8ae65ede7cb723f4f5d2ce8a7c869603970e2c7e2dfc664460b9efd06c5929ee" |
| } |
| ], |
| "payload_bytes": 77603754, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_h1/sample_00", |
| "logical_dataset": "humanoid-everyday_v21_h1", |
| "episode_index": 0, |
| "task": "Articulated/adjust_the_tilt_angle_of_a_monitor_on_the_desk", |
| "frames": 370, |
| "fps": 30, |
| "state_dim": 65, |
| "action_dim": 26, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 12.333, |
| "source_relative_root": "humanoid-everyday_v21_h1", |
| "robot_type": "h1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_00/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/data/chunk-000/episode_000000.parquet", |
| "size_bytes": 84967, |
| "sha256": "d2f7f223bed45f83138405119d003281e03c67bfa0d0beaca31a5ee143f74c79" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_00/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_h1/videos/chunk-000/egocentric/episode_000000.mp4", |
| "size_bytes": 566427, |
| "sha256": "b7f91411e869ca4df6263da9a13e5a07eb02c7b2c15f5d0aa4a14e9db3d78075", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 370 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_00/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/ancillary/data/chunk-000/episode_000000.parquet", |
| "size_bytes": 72329985, |
| "sha256": "1380c7d8978042dbe77642027bee401bcad4f33e87b261ab680b82f7540d9e1e" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_00/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_h1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "b92d42fdeabbe7d0ccaaa077febbeaa40539c2a1504f0b617cbb012f2ec2ad8f" |
| } |
| ], |
| "payload_bytes": 72983923, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_h1/sample_01", |
| "logical_dataset": "humanoid-everyday_v21_h1", |
| "episode_index": 1201, |
| "task": "Basic/pick_a_calculator_from_a_container_and_put_it_on_the_desk", |
| "frames": 399, |
| "fps": 30, |
| "state_dim": 65, |
| "action_dim": 26, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.3, |
| "source_relative_root": "humanoid-everyday_v21_h1", |
| "robot_type": "h1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_01/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/data/chunk-001/episode_001201.parquet", |
| "size_bytes": 86612, |
| "sha256": "5d6fef2f2b986582f43626384ed879032ad66ba09a4c683e39368449a07e42ac" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_01/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_h1/videos/chunk-001/egocentric/episode_001201.mp4", |
| "size_bytes": 649526, |
| "sha256": "4e12ce72853aa20e7d4cc7a3b7a75ad787e1944a522c0e900a60733165f290e4", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 399 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_01/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/ancillary/data/chunk-001/episode_001201.parquet", |
| "size_bytes": 91647011, |
| "sha256": "9aa308e9306ef334023b2d962fdf3ca407154d33434c3d087a0134eec4023566" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_01/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_h1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "b92d42fdeabbe7d0ccaaa077febbeaa40539c2a1504f0b617cbb012f2ec2ad8f" |
| } |
| ], |
| "payload_bytes": 92385693, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_h1/sample_02", |
| "logical_dataset": "humanoid-everyday_v21_h1", |
| "episode_index": 2456, |
| "task": "Basic/push_the_tape_towards_the_notebook", |
| "frames": 398, |
| "fps": 30, |
| "state_dim": 65, |
| "action_dim": 26, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.267, |
| "source_relative_root": "humanoid-everyday_v21_h1", |
| "robot_type": "h1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_02/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/data/chunk-002/episode_002456.parquet", |
| "size_bytes": 92465, |
| "sha256": "53f2598b26dd5cb458f08377234c8224cf635b00a9235b741a059d2aa7e4865c" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_02/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_h1/videos/chunk-002/egocentric/episode_002456.mp4", |
| "size_bytes": 572590, |
| "sha256": "dde09aeec0b37a75f617930406e7e4b633f08c9de72d95d2bda55b2db24d9d52", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 398 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_02/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/ancillary/data/chunk-002/episode_002456.parquet", |
| "size_bytes": 92544616, |
| "sha256": "3d1a280b8566552cc05f5d5330290b33138f8d561a707b8ac90bed0e8d10d57c" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_02/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_h1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "b92d42fdeabbe7d0ccaaa077febbeaa40539c2a1504f0b617cbb012f2ec2ad8f" |
| } |
| ], |
| "payload_bytes": 93212215, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_h1/sample_03", |
| "logical_dataset": "humanoid-everyday_v21_h1", |
| "episode_index": 3674, |
| "task": "HRI/pick_up_a_emotional_support_dumplings_and_hand_it_to_a_person", |
| "frames": 389, |
| "fps": 30, |
| "state_dim": 65, |
| "action_dim": 26, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 12.967, |
| "source_relative_root": "humanoid-everyday_v21_h1", |
| "robot_type": "h1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_03/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/data/chunk-003/episode_003674.parquet", |
| "size_bytes": 88249, |
| "sha256": "bb250a16bffaa518cb6bf0d6b90769416c03c7919f7b581eb760b9c06be07f2a" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_03/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_h1/videos/chunk-003/egocentric/episode_003674.mp4", |
| "size_bytes": 740889, |
| "sha256": "3b5902687eb3e0ecf5fcc8a8cf25922078c0999c7e6d755f60da68046cb88d0f", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 389 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_03/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/ancillary/data/chunk-003/episode_003674.parquet", |
| "size_bytes": 87772275, |
| "sha256": "99c788227149dcfda99f40d8bf9fffd72795b0396db4bede0a79bbefb5fa2a8c" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_03/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_h1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "b92d42fdeabbe7d0ccaaa077febbeaa40539c2a1504f0b617cbb012f2ec2ad8f" |
| } |
| ], |
| "payload_bytes": 88603957, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "humanoid_everyday_h1/sample_04", |
| "logical_dataset": "humanoid-everyday_v21_h1", |
| "episode_index": 4870, |
| "task": "Tool_use/wipe_a_table_with_an_eraser", |
| "frames": 401, |
| "fps": 30, |
| "state_dim": 65, |
| "action_dim": 26, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 13.367, |
| "source_relative_root": "humanoid-everyday_v21_h1", |
| "robot_type": "h1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_04/data.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/data/chunk-004/episode_004870.parquet", |
| "size_bytes": 84279, |
| "sha256": "7e1a8e6d4efaf0bf01552e500393dbd2659e72d33c59ffb3ad17037516eb8aca" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_04/videos/egocentric.mp4", |
| "source_relative_path": "humanoid-everyday_v21_h1/videos/chunk-004/egocentric/episode_004870.mp4", |
| "size_bytes": 710721, |
| "sha256": "5d9c70c3f3904543ff4565841013b15edadf605f77ca3e106c968f97b53637c9", |
| "video": { |
| "codec_name": "h264", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 401 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_04/sidecars/ancillary.parquet", |
| "source_relative_path": "humanoid-everyday_v21_h1/ancillary/data/chunk-004/episode_004870.parquet", |
| "size_bytes": 93109544, |
| "sha256": "936105471ad9f97744414ce3415354b127e8621edb61a92dc52b01f19cc3d939" |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "humanoid_everyday_h1/sample_04/source_meta/info.json", |
| "source_relative_path": "humanoid-everyday_v21_h1/meta/info.json", |
| "size_bytes": 2544, |
| "sha256": "b92d42fdeabbe7d0ccaaa077febbeaa40539c2a1504f0b617cbb012f2ec2ad8f" |
| } |
| ], |
| "payload_bytes": 93907088, |
| "video_count": 1 |
| }, |
| { |
| "bundle_sample_id": "icra_wbc/sample_00", |
| "logical_dataset": "icra_wbc_v21", |
| "episode_index": 1881, |
| "task": "Move in front of the shelf; Grasp the 7UP and the 7UP; Hold the items and walk to the cart; Place the item into the cart.", |
| "frames": 1635, |
| "fps": 30, |
| "state_dim": 31, |
| "action_dim": 44, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 54.5, |
| "source_relative_root": "icra_wbc_v21", |
| "robot_type": "unitree_g2", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "icra_wbc/sample_00/data.parquet", |
| "source_relative_path": "icra_wbc_v21/data/chunk-001/episode_001881.parquet", |
| "size_bytes": 801603, |
| "sha256": "2e37cc290004fd87688dde676bfe7c9c269b94260499525d5bd6fed796b47b41" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/videos/observation.images.hand_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_left_color/episode_001881.mp4", |
| "size_bytes": 41461290, |
| "sha256": "b7dab3f965103983e793807e9cc0ecd4d248cc56a28d61fe8517e7ea1c275ba9", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/videos/observation.images.hand_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_right_color/episode_001881.mp4", |
| "size_bytes": 34713052, |
| "sha256": "391e127a633ada31c54852f86e5648beecf7ff0b617959e5441a397db410ba79", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/videos/observation.images.head_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_color/episode_001881.mp4", |
| "size_bytes": 8046004, |
| "sha256": "3e505b9c13d7fc68fc3dc3577ee27564e8eb8e621c6dbeafa51c34fc36a4e90e", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/videos/observation.images.head_stereo_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_left_color/episode_001881.mp4", |
| "size_bytes": 44924262, |
| "sha256": "234fe3e054aeb41f7bc51388969bbea6d17afbdf8e35c4f0d4b72e4e13b567f9", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/videos/observation.images.head_stereo_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_right_color/episode_001881.mp4", |
| "size_bytes": 44151215, |
| "sha256": "27ce9c8e15fe83ecada3ecdc1bb0dbe18a520b1c05f4ee5a5a5c19194c8c4cbd", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "icra_wbc/sample_00/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_depth/episode_001881.mp4", |
| "size_bytes": 297266629, |
| "sha256": "aec394b2d071beee8e1f2b038c5e6623a4de12aab6daa4b3becdb0dac0713bda", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1635 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "icra_wbc/sample_00/source_meta/info.json", |
| "source_relative_path": "icra_wbc_v21/meta/info.json", |
| "size_bytes": 11367, |
| "sha256": "17d0b7e79346fed730092e948f8365ff3b10a1dea9d5ea6ce408c195bca40f5d" |
| } |
| ], |
| "payload_bytes": 471375422, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "icra_wbc/sample_01", |
| "logical_dataset": "icra_wbc_v21", |
| "episode_index": 1786, |
| "task": "Move in front of the shelf; Grasp the ENONE Juice and the 7UP; Hold the items and walk to the cart; Place the item into the cart.", |
| "frames": 1765, |
| "fps": 30, |
| "state_dim": 31, |
| "action_dim": 44, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 58.833, |
| "source_relative_root": "icra_wbc_v21", |
| "robot_type": "unitree_g2", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "icra_wbc/sample_01/data.parquet", |
| "source_relative_path": "icra_wbc_v21/data/chunk-001/episode_001786.parquet", |
| "size_bytes": 784946, |
| "sha256": "ce89b3f84a4c5f42fbdeb45971dd3f04d254b1bba1d7966a724a1f0fe181367e" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/videos/observation.images.hand_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_left_color/episode_001786.mp4", |
| "size_bytes": 24011171, |
| "sha256": "bbca7058cc85533fb1c6dde215825c409652ac5ffc86aa8a63e614b8a5f30517", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/videos/observation.images.hand_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_right_color/episode_001786.mp4", |
| "size_bytes": 23098766, |
| "sha256": "0a6e731896d8c17a6ed92db3160750dacc72bb40965ab0edb568dd7cb9c525a4", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/videos/observation.images.head_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_color/episode_001786.mp4", |
| "size_bytes": 9349875, |
| "sha256": "f8351d0f526f62eb4f9b92b245c44c54534bbbea5a4770b592f274fc0508df12", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/videos/observation.images.head_stereo_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_left_color/episode_001786.mp4", |
| "size_bytes": 63635570, |
| "sha256": "50ab977536be404c03c5a94d71b2eb7e87e5872b28566fcb119289f73d051d33", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/videos/observation.images.head_stereo_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_right_color/episode_001786.mp4", |
| "size_bytes": 66029847, |
| "sha256": "2dee50038ccc95f493b93dad9550b6a59467f652c8d9a5c20b1521102c2d8ce7", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "icra_wbc/sample_01/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_depth/episode_001786.mp4", |
| "size_bytes": 290800959, |
| "sha256": "10252ee0cafc53c7c10eaf099d8dc62bee6ee08efffc07bb4d8e296382e72fa5", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1765 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "icra_wbc/sample_01/source_meta/info.json", |
| "source_relative_path": "icra_wbc_v21/meta/info.json", |
| "size_bytes": 11367, |
| "sha256": "17d0b7e79346fed730092e948f8365ff3b10a1dea9d5ea6ce408c195bca40f5d" |
| } |
| ], |
| "payload_bytes": 477722501, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "icra_wbc/sample_02", |
| "logical_dataset": "icra_wbc_v21", |
| "episode_index": 1817, |
| "task": "Move in front of the shelf; Grasp the Itoen Barley Tea and the 7UP; Hold the items and walk to the cart; Place the item into the cart.", |
| "frames": 1493, |
| "fps": 30, |
| "state_dim": 31, |
| "action_dim": 44, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 49.767, |
| "source_relative_root": "icra_wbc_v21", |
| "robot_type": "unitree_g2", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "icra_wbc/sample_02/data.parquet", |
| "source_relative_path": "icra_wbc_v21/data/chunk-001/episode_001817.parquet", |
| "size_bytes": 640287, |
| "sha256": "0644c76dffad33ab0f3321d79821027ebb8e85280803030eff890c6cad37d7d7" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/videos/observation.images.hand_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_left_color/episode_001817.mp4", |
| "size_bytes": 36536667, |
| "sha256": "c94393ab6cf47a23628b26fffb373056fa1c39e8a353582edb788e724d18140c", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/videos/observation.images.hand_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.hand_right_color/episode_001817.mp4", |
| "size_bytes": 30889192, |
| "sha256": "c715e83b6f7e0d92f3f2eb07bf97aa6131418bf321f882320ca58e32acaa54c7", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/videos/observation.images.head_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_color/episode_001817.mp4", |
| "size_bytes": 8361567, |
| "sha256": "e7f570e07e4e3afdd73bb60b6e9aba52719714318a68ae76d6fe0eb7590e4399", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/videos/observation.images.head_stereo_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_left_color/episode_001817.mp4", |
| "size_bytes": 44304886, |
| "sha256": "b934200ad049d6664dc3b3d20e6c9aea6c310f821f340bd174c100674420b5f6", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/videos/observation.images.head_stereo_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_stereo_right_color/episode_001817.mp4", |
| "size_bytes": 44407182, |
| "sha256": "919e069c9834e4ddb6d62cc34e72deb7f325e62f60674e1e467f9f049a1ff72c", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "icra_wbc/sample_02/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-001/observation.images.head_depth/episode_001817.mp4", |
| "size_bytes": 255714218, |
| "sha256": "9058b6ef31e67b9673ae9a2171343a0ba27914b88ea6f3543d01cb2d9bdb02d0", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1493 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "icra_wbc/sample_02/source_meta/info.json", |
| "source_relative_path": "icra_wbc_v21/meta/info.json", |
| "size_bytes": 11367, |
| "sha256": "17d0b7e79346fed730092e948f8365ff3b10a1dea9d5ea6ce408c195bca40f5d" |
| } |
| ], |
| "payload_bytes": 420865366, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "icra_wbc/sample_03", |
| "logical_dataset": "icra_wbc_v21", |
| "episode_index": 2550, |
| "task": "Move in front of the shelf; Grasp the Pepsi and the 7UP; Hold the items and walk to the cart; Place the item into the cart.", |
| "frames": 1654, |
| "fps": 30, |
| "state_dim": 31, |
| "action_dim": 44, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 55.133, |
| "source_relative_root": "icra_wbc_v21", |
| "robot_type": "unitree_g2", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "icra_wbc/sample_03/data.parquet", |
| "source_relative_path": "icra_wbc_v21/data/chunk-002/episode_002550.parquet", |
| "size_bytes": 626670, |
| "sha256": "111760d6bdf1f65ea5796f6229fb4e1805bf28a04db96e8199221517944ecd7b" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/videos/observation.images.hand_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.hand_left_color/episode_002550.mp4", |
| "size_bytes": 37109762, |
| "sha256": "0bdc3642f967000495a978cf4ced09dbbafe7e15f2537548f6f07f1a13e8ab08", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/videos/observation.images.hand_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.hand_right_color/episode_002550.mp4", |
| "size_bytes": 29742395, |
| "sha256": "b6e094565c01828f9337e9df7ae877a3003c00cf4c7448985d794753e61ac097", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/videos/observation.images.head_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.head_color/episode_002550.mp4", |
| "size_bytes": 9926988, |
| "sha256": "3b3992f29610f8555ad753093fb8246623c9802a56813d96233ce50d2f4efec2", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/videos/observation.images.head_stereo_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.head_stereo_left_color/episode_002550.mp4", |
| "size_bytes": 53616376, |
| "sha256": "7a85a77055f3984474f69afe54a5e7e629daf89e37a6efc539c45b5ba9738420", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/videos/observation.images.head_stereo_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.head_stereo_right_color/episode_002550.mp4", |
| "size_bytes": 56607333, |
| "sha256": "bf06152bc331347c872f8f9e4c2557fed25c1c593063bc537c2ac444b16e9fc7", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "icra_wbc/sample_03/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-002/observation.images.head_depth/episode_002550.mp4", |
| "size_bytes": 276695425, |
| "sha256": "649f16b766851fc89da27e7bd7eeb3c77d4c71f803e01a19c2dab66006bf3d1d", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1654 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "icra_wbc/sample_03/source_meta/info.json", |
| "source_relative_path": "icra_wbc_v21/meta/info.json", |
| "size_bytes": 11367, |
| "sha256": "17d0b7e79346fed730092e948f8365ff3b10a1dea9d5ea6ce408c195bca40f5d" |
| } |
| ], |
| "payload_bytes": 464336316, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "icra_wbc/sample_04", |
| "logical_dataset": "icra_wbc_v21", |
| "episode_index": 400, |
| "task": "Move in front of the shelf; Grasp the Weichuan Daily C; Hold the item and walk to the cart; Place the item into the cart.", |
| "frames": 1163, |
| "fps": 30, |
| "state_dim": 31, |
| "action_dim": 44, |
| "selection_source": "standalone_beta.json", |
| "duration_seconds": 38.767, |
| "source_relative_root": "icra_wbc_v21", |
| "robot_type": "unitree_g2", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "icra_wbc/sample_04/data.parquet", |
| "source_relative_path": "icra_wbc_v21/data/chunk-000/episode_000400.parquet", |
| "size_bytes": 381695, |
| "sha256": "3a00eb0b14e3feca50b48da26323f3fe8f73a0e4166eb076b492f8451d689977" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/videos/observation.images.hand_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.hand_left_color/episode_000400.mp4", |
| "size_bytes": 26560239, |
| "sha256": "c5c0bf9e1eb3cbd9339a86fc2d93213b6fa1f218f8a744cbd7d9f1ac6da82f7d", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/videos/observation.images.hand_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.hand_right_color/episode_000400.mp4", |
| "size_bytes": 24416300, |
| "sha256": "716e7c960185c9e7c238d1ab1bb6497439acd7c33f123141e597f6c9334481c5", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1280, |
| "height": 1056, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/videos/observation.images.head_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.head_color/episode_000400.mp4", |
| "size_bytes": 6875306, |
| "sha256": "db45bc38a649b034744e0317774ae4412cce187ae556b200ca911e7028daab78", |
| "video": { |
| "codec_name": "hevc", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/videos/observation.images.head_stereo_left_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.head_stereo_left_color/episode_000400.mp4", |
| "size_bytes": 34857241, |
| "sha256": "77f5040449e2b96ffddaa8ce93a82fc857cd47a9f75243164e8ffd9f8102ba23", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/videos/observation.images.head_stereo_right_color.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.head_stereo_right_color/episode_000400.mp4", |
| "size_bytes": 34847498, |
| "sha256": "1fb1829b60ad8d670ac903941b63bd55c7a0139b666434163074b2cd1ecf7022", |
| "video": { |
| "codec_name": "hevc", |
| "width": 1920, |
| "height": 1536, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "icra_wbc/sample_04/sidecars/observation.images.head_depth.mp4", |
| "source_relative_path": "icra_wbc_v21/videos/chunk-000/observation.images.head_depth/episode_000400.mp4", |
| "size_bytes": 234033230, |
| "sha256": "7e1fa3dece677f3d263962f4b4495d6ac965ee1e386b6935eb44b267dacaf5e2", |
| "video": { |
| "codec_name": "png", |
| "width": 640, |
| "height": 400, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1163 |
| } |
| }, |
| { |
| "role": "source_info_path", |
| "key": null, |
| "path": "icra_wbc/sample_04/source_meta/info.json", |
| "source_relative_path": "icra_wbc_v21/meta/info.json", |
| "size_bytes": 11367, |
| "sha256": "17d0b7e79346fed730092e948f8365ff3b10a1dea9d5ea6ce408c195bca40f5d" |
| } |
| ], |
| "payload_bytes": 361982876, |
| "video_count": 6 |
| }, |
| { |
| "bundle_sample_id": "realsource_world/sample_00", |
| "logical_dataset": "realsource_world", |
| "dataset_id": "Making_steamed_potatoes", |
| "schema_group": "realsource_kitchen", |
| "episode_index": 2, |
| "task": "Making steamed potatoes", |
| "frames": 1027, |
| "fps": 30, |
| "duration_seconds": 34.233333333333334, |
| "state": 71, |
| "action": 17, |
| "state_keys": { |
| "observation.state": [ |
| 71 |
| ] |
| }, |
| "action_keys": { |
| "action": [ |
| 17 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 71, |
| "action_dim": 17, |
| "source_relative_root": "RealSourceData/RealSource-World/Making_steamed_potatoes", |
| "robot_type": "RS-02", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "realsource_world/sample_00/data.parquet", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/data/chunk-000/episode_000002.parquet", |
| "size_bytes": 305356, |
| "sha256": "5223532067b28ed31edebc6154a2a3af39cf7c2510a5e75a40bb365ad420e908" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/videos/observation.images.head_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/videos/chunk-000/observation.images.head_camera/episode_000002.mp4", |
| "size_bytes": 3824333, |
| "sha256": "c352dc5f6886f8a5018c83bec10545085b778b6156102de2a8b8ffe98e6f3cde", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1027 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/videos/observation.images.left_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/videos/chunk-000/observation.images.left_hand_camera/episode_000002.mp4", |
| "size_bytes": 7512620, |
| "sha256": "37de6083ef62762f74b54a8906d5a85e43377c796da0761de0b147b46561be88", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1027 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/videos/observation.images.right_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/videos/chunk-000/observation.images.right_hand_camera/episode_000002.mp4", |
| "size_bytes": 8296678, |
| "sha256": "55746bc2ebd63978422f6386af5a7aff9564525c7ce8c68558d78f93f531fa85", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1027 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/info.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/info.json", |
| "size_bytes": 6953, |
| "sha256": "e42d8f3a18bd4abc6b5cd6591e26b836b5d14605f935bfcd1f9711412267735c" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/tasks.jsonl", |
| "size_bytes": 71, |
| "sha256": "34c57bb1f0802512ad09fc1a1ed46474be83ada7028422ec29ae90c0245e6cfc" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/episodes.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/episodes.jsonl", |
| "size_bytes": 6320, |
| "sha256": "7e0fc872d10f410ba77f9db7ab9655e0c270f403b7fd4f084ebd52521ae6bcaf" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/episodes_stats.jsonl", |
| "size_bytes": 134188, |
| "sha256": "6a6cf82986fbf57a0593611ad840f6a0fb74920af898ca7fe65315057c5b8aaf" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/sub_tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/sub_tasks.jsonl", |
| "size_bytes": 21979, |
| "sha256": "9c5f2c8c1e3bba4227cbc6e37005b2a4113a6120d25aa3a0243f8550db771ad3" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_00/source_meta/camera.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Making_steamed_potatoes/meta/camera.json", |
| "size_bytes": 88262, |
| "sha256": "a1906d6fff0378ebc718e6f5365009c59c18522915aca817a06be4a1267222a7" |
| } |
| ], |
| "payload_bytes": 20196760, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "realsource_world/sample_01", |
| "logical_dataset": "realsource_world", |
| "dataset_id": "Move_industrial_parts_to_different_plastic_boxes", |
| "schema_group": "realsource_industrial", |
| "episode_index": 7, |
| "task": "Move industrial parts to different plastic boxes", |
| "frames": 751, |
| "fps": 30, |
| "duration_seconds": 25.033333333333335, |
| "state": 71, |
| "action": 17, |
| "state_keys": { |
| "observation.state": [ |
| 71 |
| ] |
| }, |
| "action_keys": { |
| "action": [ |
| 17 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 71, |
| "action_dim": 17, |
| "source_relative_root": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes", |
| "robot_type": "RS-02", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "realsource_world/sample_01/data.parquet", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/data/chunk-000/episode_000007.parquet", |
| "size_bytes": 177813, |
| "sha256": "495fc519ed41ee7a29e41a292fa3268ad1f2c00b7059ca10efb3bdd4117078fd" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/videos/observation.images.head_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/videos/chunk-000/observation.images.head_camera/episode_000007.mp4", |
| "size_bytes": 6043297, |
| "sha256": "83b2e2a4cf5a6bd6f2c79d736b68813a6bda6f3918a946199b6dea6a42490d52", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/videos/observation.images.left_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/videos/chunk-000/observation.images.left_hand_camera/episode_000007.mp4", |
| "size_bytes": 3580195, |
| "sha256": "25adafabfe68cb63b7c6ffd37c40c6aeca7ce56739b06eedf4a3d3ec9adbfb90", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/videos/observation.images.right_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/videos/chunk-000/observation.images.right_hand_camera/episode_000007.mp4", |
| "size_bytes": 7556936, |
| "sha256": "f250efcf3f0c0ef6dbf0c433d20b85067015d4b8d0b9a739ec13e465f94ee49d", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/info.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/info.json", |
| "size_bytes": 6957, |
| "sha256": "4245e8069c9ca33fd32ef91d9db20af8dc0fbb6f15cd031764fb1d9d91f32b4e" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/tasks.jsonl", |
| "size_bytes": 96, |
| "sha256": "6d46a997ad417a368f421c68c34d6744d24f6d9bd16629bd88fc10d0b48ba01c" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/episodes.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/episodes.jsonl", |
| "size_bytes": 47719, |
| "sha256": "f8f5b9e54a864227a18841f7b83921df10481e95d21dfecb3e765b1808bf7a43" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/episodes_stats.jsonl", |
| "size_bytes": 967084, |
| "sha256": "676bcdbe5f20673bfff4d70653be9b3c58b8d998c61ab7e04660bafa4b87477c" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/sub_tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/sub_tasks.jsonl", |
| "size_bytes": 204072, |
| "sha256": "db2191e80a3f88a6eede9f8c865af5242904b94533470bac72f4257477b75547" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_01/source_meta/camera.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Move_industrial_parts_to_different_plastic_boxes/meta/camera.json", |
| "size_bytes": 631195, |
| "sha256": "e86775b196775dcb644d1f3124bcf9de1a6a70c28dc26bd6cb6be499b2e07062" |
| } |
| ], |
| "payload_bytes": 19215364, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "realsource_world/sample_02", |
| "logical_dataset": "realsource_world", |
| "dataset_id": "Replenish_tea_bags", |
| "schema_group": "realsource_retail", |
| "episode_index": 83, |
| "task": "Replenish tea bags", |
| "frames": 749, |
| "fps": 30, |
| "duration_seconds": 24.966666666666665, |
| "state": 71, |
| "action": 17, |
| "state_keys": { |
| "observation.state": [ |
| 71 |
| ] |
| }, |
| "action_keys": { |
| "action": [ |
| 17 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 71, |
| "action_dim": 17, |
| "source_relative_root": "RealSourceData/RealSource-World/Replenish_tea_bags", |
| "robot_type": "RS-02", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "realsource_world/sample_02/data.parquet", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/data/chunk-000/episode_000083.parquet", |
| "size_bytes": 179339, |
| "sha256": "65327dba7827f5367df8ad8a756968bf952194fc4431ff4d4976b5707adc57ed" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/videos/observation.images.head_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/videos/chunk-000/observation.images.head_camera/episode_000083.mp4", |
| "size_bytes": 3201405, |
| "sha256": "335914e12fbacdd85320c555608bbdb1d001c2a980fbb76b4224798adb3ce091", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 749 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/videos/observation.images.left_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/videos/chunk-000/observation.images.left_hand_camera/episode_000083.mp4", |
| "size_bytes": 3663608, |
| "sha256": "0bd61978b61396c457ce91b895c7376aba0dbbfb9f509d0fcfcc239b6a776548", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 749 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/videos/observation.images.right_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/videos/chunk-000/observation.images.right_hand_camera/episode_000083.mp4", |
| "size_bytes": 5499444, |
| "sha256": "2ba0f445fbf15d14e876d3adf792814578226e2a288d024400d180d27a56f803", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 749 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/info.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/info.json", |
| "size_bytes": 6954, |
| "sha256": "cdebf9a405386a0fea5da1246ca7c635438a0fb4b7f00aacc7dbcffce8f8eb5a" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/tasks.jsonl", |
| "size_bytes": 66, |
| "sha256": "2df065463d08f81a5db86f31f50de4cb4fb205066eb1bdb6e7b23c583094c208" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/episodes.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/episodes.jsonl", |
| "size_bytes": 39510, |
| "sha256": "5cf54d744fde47c367a4214019cab99d260cedcd1fefd612a1b43b2da071bd58" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/episodes_stats.jsonl", |
| "size_bytes": 847812, |
| "sha256": "2390eaa3cbf423c95accdc99f7d5d4e5524acf71e2105ffc68dda507abdeabda" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/sub_tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/sub_tasks.jsonl", |
| "size_bytes": 124209, |
| "sha256": "023dbe4b06b6557f9ca0e471cfd7aa07991ed51e238da291b609c3afb1cea1d2" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_02/source_meta/camera.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Replenish_tea_bags/meta/camera.json", |
| "size_bytes": 559742, |
| "sha256": "4df8f8a7a0e0df6bca33b5402fafdd20d285f95646b1d10d9190f1b0ef4b6407" |
| } |
| ], |
| "payload_bytes": 14122089, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "realsource_world/sample_03", |
| "logical_dataset": "realsource_world", |
| "dataset_id": "Organize_the_glass_tube_on_the_rack", |
| "schema_group": "realsource_laboratory_organization", |
| "episode_index": 131, |
| "task": "Organize the glass tube on the rack", |
| "frames": 1138, |
| "fps": 30, |
| "duration_seconds": 37.93333333333333, |
| "state": 71, |
| "action": 17, |
| "state_keys": { |
| "observation.state": [ |
| 71 |
| ] |
| }, |
| "action_keys": { |
| "action": [ |
| 17 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 71, |
| "action_dim": 17, |
| "source_relative_root": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack", |
| "robot_type": "RS-02", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "realsource_world/sample_03/data.parquet", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/data/chunk-000/episode_000131.parquet", |
| "size_bytes": 314417, |
| "sha256": "52452fdfb129ffc81f34504460041721d830e3683740c0f967c8bc9518af9fc2" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/videos/observation.images.head_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/videos/chunk-000/observation.images.head_camera/episode_000131.mp4", |
| "size_bytes": 5625058, |
| "sha256": "7484f8b84bd967a8c3b430f2e603e0d289e0d14ba6b03d739017f4aea6934122", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1138 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/videos/observation.images.left_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/videos/chunk-000/observation.images.left_hand_camera/episode_000131.mp4", |
| "size_bytes": 6080905, |
| "sha256": "13052f34a14f042f8f6630f13e9bfe9b86bf345f823f4fef5f88040aa549bda3", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1138 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/videos/observation.images.right_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/videos/chunk-000/observation.images.right_hand_camera/episode_000131.mp4", |
| "size_bytes": 6469315, |
| "sha256": "2ba94064577ff8be3ef34f9b434e458f1408faad544087dbe9425f0d3aa930eb", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 1138 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/info.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/info.json", |
| "size_bytes": 6958, |
| "sha256": "641d2cd741840b34ab0987bc7ece4336f2830bea3b11c79c2b3d6ace6eba039e" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/tasks.jsonl", |
| "size_bytes": 83, |
| "sha256": "e9b59a3e522dc3c8d4e251cc0e216784a297cf74389eda644fd51124b619ac4f" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/episodes.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/episodes.jsonl", |
| "size_bytes": 68620, |
| "sha256": "6a1a60395fa8fc702c5378ae37e7560b42fdccd521e27c895f798f7d66f8509d" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/episodes_stats.jsonl", |
| "size_bytes": 1415289, |
| "sha256": "6226d1fe46909832a57cfb1e2c8d38e5ec6d2183969e7c85e3c0136d6a79af01" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/sub_tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/sub_tasks.jsonl", |
| "size_bytes": 331995, |
| "sha256": "2fe96e73feb809bb502ad84d3653c836374872ec79e2dc5e7747c67f7fe6e913" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_03/source_meta/camera.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Organize_the_glass_tube_on_the_rack/meta/camera.json", |
| "size_bytes": 929516, |
| "sha256": "d9b741c6fa36900f6138fb66dd262dc9f7d9ea51fcdac1d793836c79cdc7dd0f" |
| } |
| ], |
| "payload_bytes": 21242156, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "realsource_world/sample_04", |
| "logical_dataset": "realsource_world", |
| "dataset_id": "Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed", |
| "schema_group": "realsource_longterm_unannotated", |
| "episode_index": 62, |
| "task": "Storage and arrangement of clothes on the bed", |
| "frames": 5888, |
| "fps": 30, |
| "duration_seconds": 196.26666666666668, |
| "state": 71, |
| "action": 17, |
| "state_keys": { |
| "observation.state": [ |
| 71 |
| ] |
| }, |
| "action_keys": { |
| "action": [ |
| 17 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 71, |
| "action_dim": 17, |
| "source_relative_root": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed", |
| "robot_type": "RS-02", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "realsource_world/sample_04/data.parquet", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/data/chunk-000/episode_000062.parquet", |
| "size_bytes": 1421264, |
| "sha256": "f57c60ed348ee85081891a62da33eaff53c166dc8d1dbc5a10eddfaeb82b9b61" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/videos/observation.images.head_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/videos/chunk-000/observation.images.head_camera/episode_000062.mp4", |
| "size_bytes": 38430734, |
| "sha256": "729c7ddf121581ea54f07a7c4dc2bf636396dcd8b3b18f733eb0098efad349b4", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 5888 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/videos/observation.images.left_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/videos/chunk-000/observation.images.left_hand_camera/episode_000062.mp4", |
| "size_bytes": 43223423, |
| "sha256": "e79c36c7a083d0c20798447ecf28b6eb5138ef15aedb26227db4af96a7dddbc1", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 5888 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/videos/observation.images.right_hand_camera.mp4", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/videos/chunk-000/observation.images.right_hand_camera/episode_000062.mp4", |
| "size_bytes": 38063555, |
| "sha256": "54a3ba131f9b90b4b16d047a72c34d0425874b81ca13c91f47261fc3d90c88c5", |
| "video": { |
| "codec_name": "h264", |
| "width": 1280, |
| "height": 720, |
| "r_frame_rate": "30/1", |
| "nb_frames": 5888 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/source_meta/info.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/meta/info.json", |
| "size_bytes": 6958, |
| "sha256": "555528bbad97e90be80031a55b6523a87fef2b3406a7e7583856b81bd9e994bd" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/source_meta/tasks.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/meta/tasks.jsonl", |
| "size_bytes": 93, |
| "sha256": "4f72ffa10fdd6ee846fa9c411a82dea275e6c08a481035482719ea64554386e3" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/source_meta/episodes.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/meta/episodes.jsonl", |
| "size_bytes": 53735, |
| "sha256": "339bffd3d863ac2f0b27044f33cefb869058ef2b733a7d6e81b04adf4edc3898" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/meta/episodes_stats.jsonl", |
| "size_bytes": 1035716, |
| "sha256": "e84c6269950f9f7e829384bd27ffcbfe01e5f51a754003758ecf9d4aab9b3c6e" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "realsource_world/sample_04/source_meta/camera.json", |
| "source_relative_path": "RealSourceData/RealSource-World/Long_Term_Tasks_Without_Annotations/Storage_and_arrangement_of_clothes_on_the_bed/meta/camera.json", |
| "size_bytes": 735870, |
| "sha256": "27008e2c10be173ca955cbcbb9837a22e7f555abca2f02d365e7828c5a74ac06" |
| } |
| ], |
| "payload_bytes": 122971348, |
| "video_count": 3 |
| }, |
| { |
| "bundle_sample_id": "unitreerobotics/sample_00", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_Dex1_PlugInEthernet", |
| "schema_group": "unitree_dex1", |
| "episode_index": 84, |
| "task": "Plug the Ethernet cable into the network port.@Insert the network cable into the port jack.@Fit the Ethernet cord into the network port.@Connect the Ethernet cable to the port.@Push the network cable into the network port.", |
| "frames": 751, |
| "fps": 30, |
| "duration_seconds": 25.033333333333335, |
| "state": 83, |
| "action": 97, |
| "state_keys": { |
| "observation.state.left_arm": [ |
| 7 |
| ], |
| "observation.state.right_arm": [ |
| 7 |
| ], |
| "observation.state.left_gripper": [ |
| 1 |
| ], |
| "observation.state.right_gripper": [ |
| 1 |
| ], |
| "observation.state.lower_body": [ |
| 15 |
| ], |
| "observation.state.left_leg": [ |
| 6 |
| ], |
| "observation.state.right_leg": [ |
| 6 |
| ], |
| "observation.state.left_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "observation.state.right_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "observation.state.state_torso": [ |
| 6 |
| ], |
| "observation.state.state_d435": [ |
| 6 |
| ], |
| "observation.state.left_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "observation.state.right_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "observation.state.waist_state_joint": [ |
| 3 |
| ], |
| "observation.state.recomputed_ee_valid": [ |
| 1 |
| ] |
| }, |
| "action_keys": { |
| "action.left_arm": [ |
| 7 |
| ], |
| "action.right_arm": [ |
| 7 |
| ], |
| "action.left_gripper": [ |
| 1 |
| ], |
| "action.right_gripper": [ |
| 1 |
| ], |
| "action.lower_body": [ |
| 15 |
| ], |
| "action.pivot": [ |
| 7 |
| ], |
| "action.gripper_controls": [ |
| 4 |
| ], |
| "action.left_leg": [ |
| 6 |
| ], |
| "action.right_leg": [ |
| 6 |
| ], |
| "action.base_command": [ |
| 4 |
| ], |
| "action.left_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "action.right_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "action.action_torso": [ |
| 6 |
| ], |
| "action.action_d435": [ |
| 6 |
| ], |
| "action.left_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "action.right_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "action.waist_action_joint": [ |
| 3 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 83, |
| "action_dim": 97, |
| "source_relative_root": "unitreerobotics_v21/G1_Dex1_PlugInEthernet", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_00/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/data/chunk-000/episode_000084.parquet", |
| "size_bytes": 638270, |
| "sha256": "1abdf60748d6c4ca6b30a6b6c0916bca3aefd05e54cda74005f3fbe7d93f9456" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.head_stereo_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.head_stereo_left/episode_000084.mp4", |
| "size_bytes": 7086066, |
| "sha256": "2564d08d07f0212fe69b90f7345900c18a8b899aebd9d3558646eca5af49cc29", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.head_stereo_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.head_stereo_right/episode_000084.mp4", |
| "size_bytes": 7025370, |
| "sha256": "2568a3bc6f81c5b7ca2048e1d4aee75982e4d7704f6c1ee6f70d0d42ec009586", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.wrist_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.wrist_left/episode_000084.mp4", |
| "size_bytes": 3341245, |
| "sha256": "0ac7cc6d751cca5167a504b8814a20b55f8aa8779add5c6d3c8ab175aef3e198", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.wrist_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.wrist_right/episode_000084.mp4", |
| "size_bytes": 5269274, |
| "sha256": "b638ab5fb6bb8080bf1313ca3c1dc4828175b2b098f35cb63109d7cde4ac4210", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/info.json", |
| "size_bytes": 25590, |
| "sha256": "a81cf708ac0c5723d0fe01627eed6ec9e1911dc60d8c27a30663687e59db1ce9" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/tasks.jsonl", |
| "size_bytes": 252, |
| "sha256": "468eef8d674220bda23f5a38bc870d9e7fa6cdaf7e3d36d5414e08b138af6b35" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/episodes.jsonl", |
| "size_bytes": 341958, |
| "sha256": "8348f6194be2be9569a2b58825897ba6f99d695ecc8b4b4e73b38214457a42bf" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/episodes_stats.jsonl", |
| "size_bytes": 18931660, |
| "sha256": "a420161640102f2866d318d2ccdc4c12597fc1725eeaeb0229d30100e87d7fff" |
| } |
| ], |
| "payload_bytes": 42659685, |
| "video_count": 4 |
| }, |
| { |
| "bundle_sample_id": "unitreerobotics/sample_01", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_WBT_Brainco_Make_The_Bed", |
| "schema_group": "unitree_wbt_brainco", |
| "episode_index": 147, |
| "task": "Make the bed neatly", |
| "frames": 751, |
| "fps": 30, |
| "duration_seconds": 25.033333333333335, |
| "state": 60, |
| "action": 60, |
| "state_keys": { |
| "observation.state.ee_state": [ |
| 12 |
| ], |
| "observation.state.hand_state": [ |
| 12 |
| ], |
| "observation.state.robot_q_current": [ |
| 36 |
| ] |
| }, |
| "action_keys": { |
| "action.ee_action": [ |
| 12 |
| ], |
| "action.hand_cmd": [ |
| 12 |
| ], |
| "action.robot_q_desired": [ |
| 36 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 60, |
| "action_dim": 60, |
| "source_relative_root": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_01/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/data/chunk-000/episode_000147.parquet", |
| "size_bytes": 437247, |
| "sha256": "8ec69d573e34a1e6ea15b9945d0e48fa3d7631913210e6d4eb6c6797f11099b4" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/videos/observation.images.head_stereo_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_left/episode_000147.mp4", |
| "size_bytes": 7697565, |
| "sha256": "23778e7bc6c3f375258835e17257d99a0534f69a6288701e2a9fbadb58a47719", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/videos/observation.images.head_stereo_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_right/episode_000147.mp4", |
| "size_bytes": 6906024, |
| "sha256": "eb6e387ece0dcf24ed3c9f6494d4554699f4434e74a4cd15d45b2b1fd3233daf", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/videos/observation.images.wrist_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.wrist_left/episode_000147.mp4", |
| "size_bytes": 4353306, |
| "sha256": "80dda26ec1756c27b10a59cc05c2f4d6824d496b59fe259ae341e6ec101e9602", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/videos/observation.images.wrist_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.wrist_right/episode_000147.mp4", |
| "size_bytes": 7564324, |
| "sha256": "f169f4325de96c4ca897706374c9aa5a4c5a9ae7753c0506643040eae7a2cc2d", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/info.json", |
| "size_bytes": 9030, |
| "sha256": "86b16460b9507ef2570d44051b027f0391e8c639cca6917f1c6c62f8ccb722b2" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/tasks.jsonl", |
| "size_bytes": 49, |
| "sha256": "76bcbfe71480e1043f52585287b42f852132fe2b848a6c2f1429fe2429947530" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/episodes.jsonl", |
| "size_bytes": 21517, |
| "sha256": "83560440e8c1d6e1fefd496cf9838c30a3e0de850c15021c8e73054343658db6" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_01/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/episodes_stats.jsonl", |
| "size_bytes": 3461908, |
| "sha256": "a4405845171aab14a0d9874e6bdb17737e3abe25d1adfa17e53c19d39d019149" |
| } |
| ], |
| "payload_bytes": 30450970, |
| "video_count": 4 |
| }, |
| { |
| "bundle_sample_id": "unitreerobotics/sample_02", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_WBT_Inspire_Put_Drinks_Into_Fridge", |
| "schema_group": "unitree_wbt_inspire_regular", |
| "episode_index": 169, |
| "task": "put drinks into fridge and close the fridge", |
| "frames": 751, |
| "fps": 30, |
| "duration_seconds": 25.033333333333335, |
| "state": 60, |
| "action": 60, |
| "state_keys": { |
| "observation.state.ee_state": [ |
| 12 |
| ], |
| "observation.state.hand_state": [ |
| 12 |
| ], |
| "observation.state.robot_q_current": [ |
| 36 |
| ] |
| }, |
| "action_keys": { |
| "action.ee_action": [ |
| 12 |
| ], |
| "action.hand_cmd": [ |
| 12 |
| ], |
| "action.robot_q_desired": [ |
| 36 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 60, |
| "action_dim": 60, |
| "source_relative_root": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_02/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/data/chunk-000/episode_000169.parquet", |
| "size_bytes": 430256, |
| "sha256": "4f935c706c25842a2a82768acb3920bd005e69256406f1ce3bc2a6ffd3772286" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/videos/observation.images.head_stereo_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/videos/chunk-000/observation.images.head_stereo_left/episode_000169.mp4", |
| "size_bytes": 10268091, |
| "sha256": "41cc9929140d294fd2a87f591106df49956443ea71de33b83f3ea9eb9b2fcea2", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/videos/observation.images.head_stereo_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/videos/chunk-000/observation.images.head_stereo_right/episode_000169.mp4", |
| "size_bytes": 10340718, |
| "sha256": "355e8116a992162fbad409f61bc661b72f277a77327adfe103feff9a7ad5b104", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/videos/observation.images.wrist_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/videos/chunk-000/observation.images.wrist_left/episode_000169.mp4", |
| "size_bytes": 7164630, |
| "sha256": "10a851a2df2ed47bbfa0098fc20c28d64e6356a2039a4b0fe9d46dfb0c5ffa6f", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/videos/observation.images.wrist_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/videos/chunk-000/observation.images.wrist_right/episode_000169.mp4", |
| "size_bytes": 9506524, |
| "sha256": "ee76251981d5ad9aa007da56fa334a16f348b0182e977fc9f44cddba2e5d9017", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/meta/info.json", |
| "size_bytes": 9030, |
| "sha256": "9fecbbd7404e039b2bb06f15c95048e2470dd66ee02db93cec9d9644400f05be" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/meta/tasks.jsonl", |
| "size_bytes": 73, |
| "sha256": "fc25702ad52d7813286bdc0eefc45fb54ae846baff150f311e750202ab3b3438" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/meta/episodes.jsonl", |
| "size_bytes": 28694, |
| "sha256": "1434ea0fe817a52a222221cd4040c07cb0fb5ee3cd77e36a2ed023276ca845dc" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_02/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Put_Drinks_Into_Fridge/meta/episodes_stats.jsonl", |
| "size_bytes": 3563177, |
| "sha256": "ada5ebd0eefd4db262154382b22a9348472de7b5a415dcf7cc710a26cecce688" |
| } |
| ], |
| "payload_bytes": 41311193, |
| "video_count": 4 |
| }, |
| { |
| "bundle_sample_id": "unitreerobotics/sample_03", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes", |
| "schema_group": "unitree_maincamonly", |
| "episode_index": 13, |
| "task": "Put the clothes on the bed into the basket.", |
| "frames": 377, |
| "fps": 30, |
| "duration_seconds": 12.566666666666666, |
| "state": 60, |
| "action": 60, |
| "state_keys": { |
| "observation.state.ee_state": [ |
| 12 |
| ], |
| "observation.state.hand_state": [ |
| 12 |
| ], |
| "observation.state.robot_q_current": [ |
| 36 |
| ] |
| }, |
| "action_keys": { |
| "action.ee_action": [ |
| 12 |
| ], |
| "action.hand_cmd": [ |
| 12 |
| ], |
| "action.robot_q_desired": [ |
| 36 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 60, |
| "action_dim": 60, |
| "source_relative_root": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_03/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/data/chunk-000/episode_000013.parquet", |
| "size_bytes": 215840, |
| "sha256": "abf69d9a2ff6574e9508216337bee503a8e6b635bbc0d2759b0baecfb475d45e" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/videos/observation.images.cam_0.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/videos/chunk-000/observation.images.cam_0/episode_000013.mp4", |
| "size_bytes": 3981556, |
| "sha256": "f693e94b2b661a5191bc5a84e0eeaa496f00b191d8807ca6fc2ce526328b6994", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 377 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/videos/observation.images.cam_1.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/videos/chunk-000/observation.images.cam_1/episode_000013.mp4", |
| "size_bytes": 4280048, |
| "sha256": "3ac8213d6ba62bd3d57d0202127770e307c6facf70250afdee6c40d8e7fa0bc3", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 377 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/meta/info.json", |
| "size_bytes": 7728, |
| "sha256": "481906bd154e8887cf36caf797c422cc693dfe26294ecca68b944ea704ecdf2f" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/meta/tasks.jsonl", |
| "size_bytes": 73, |
| "sha256": "6a50445deb27c62e277f0c787acc7efdf293754f5e7cfa59087f4af2a19b83d4" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/meta/episodes.jsonl", |
| "size_bytes": 32146, |
| "sha256": "ebd3f1f4c05f671df547080edf1ddce7434b350802e935ce1bdc2760b8e998c1" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_03/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes/meta/episodes_stats.jsonl", |
| "size_bytes": 3761942, |
| "sha256": "c2a0d5ff6322b34caf00420b6fcffad4623d59c284abefba90e408b0c7319825" |
| } |
| ], |
| "payload_bytes": 12279333, |
| "video_count": 2 |
| }, |
| { |
| "bundle_sample_id": "unitreerobotics/sample_04", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_WBT_Dex1_Put_Clothes_into_Washing_Machine", |
| "schema_group": "unitree_wbt_dex1", |
| "episode_index": 140, |
| "task": "Pick up the clothes and place them into the washing machine", |
| "frames": 743, |
| "fps": 30, |
| "duration_seconds": 24.766666666666666, |
| "state": 50, |
| "action": 50, |
| "state_keys": { |
| "observation.state.ee_state": [ |
| 12 |
| ], |
| "observation.state.hand_state": [ |
| 2 |
| ], |
| "observation.state.robot_q_current": [ |
| 36 |
| ] |
| }, |
| "action_keys": { |
| "action.ee_action": [ |
| 12 |
| ], |
| "action.hand_cmd": [ |
| 2 |
| ], |
| "action.robot_q_desired": [ |
| 36 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 50, |
| "action_dim": 50, |
| "source_relative_root": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_04/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/data/chunk-000/episode_000140.parquet", |
| "size_bytes": 433812, |
| "sha256": "57d71bf71913cd4e5ee89194458307aa7009637694edcb67ba5cebddc262fedc" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/videos/observation.images.head_stereo_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.head_stereo_left/episode_000140.mp4", |
| "size_bytes": 10650017, |
| "sha256": "91dfc11b2626f449c40fc56ec3df9a6b31f2d27ff4acc4e95607031b14fd9bf9", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 743 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/videos/observation.images.head_stereo_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.head_stereo_right/episode_000140.mp4", |
| "size_bytes": 14192712, |
| "sha256": "439b2f135f93523b319c1c62355dec6d026bb8f2015ea27197ebe2144c66fd73", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 743 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/videos/observation.images.wrist_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.wrist_left/episode_000140.mp4", |
| "size_bytes": 10923303, |
| "sha256": "6499a45d9488354dbe553d5ecfd54b83bb0e599ada361acf52d9b97ebcf6bcef", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 743 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/videos/observation.images.wrist_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.wrist_right/episode_000140.mp4", |
| "size_bytes": 14863539, |
| "sha256": "441c5455365efff87843b180f0431ee572eb61fde27da473bf975e578437e24c", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 743 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/info.json", |
| "size_bytes": 8403, |
| "sha256": "f8d066fd6a0ac05d6791afacd7f067eb94e5b35003f57fb61039fe66d9e517c4" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/tasks.jsonl", |
| "size_bytes": 89, |
| "sha256": "c3d740c05e2edaf32031553610156c8efce6bed9920093b7881f123712047e6c" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/episodes.jsonl", |
| "size_bytes": 17156, |
| "sha256": "4d7bcfaad5bdbb9700726611ab3356fb07f1c1bde2e2dfcc6b86d7f3154e0cfe" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_04/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/episodes_stats.jsonl", |
| "size_bytes": 1590901, |
| "sha256": "175317cafd629eaef4bbfb3df973c6c0e0564194b516c9f94f132248987a2563" |
| } |
| ], |
| "payload_bytes": 52679932, |
| "video_count": 4 |
| } |
| ] |
| } |
|
|
