| { |
| "codebase_version": "v3.0", |
| "robot_type": "simpleai_umi_4.0", |
| "dataset_id": "lerobotv3", |
| "total_episodes": 140, |
| "total_frames": 228719, |
| "total_tasks": 4, |
| "chunks_size": 1000, |
| "fps": 25.0, |
| "splits": { |
| "train": "0:140" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.images.head_main": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.head_main_stereo_right": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_hand_down": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_hand_up": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_hand_down": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_hand_up": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 512, |
| 640 |
| ], |
| "names": [ |
| "channels", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.height": 512, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 25.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 20 |
| ], |
| "names": [ |
| "state_dim" |
| ], |
| "fps": 25.0 |
| }, |
| "observation.state_valid": { |
| "dtype": "bool", |
| "shape": [ |
| 20 |
| ], |
| "names": [ |
| "state_dim" |
| ], |
| "fps": 25.0 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 20 |
| ], |
| "names": [ |
| "action_dim" |
| ], |
| "fps": 25.0 |
| }, |
| "action_valid": { |
| "dtype": "bool", |
| "shape": [ |
| 20 |
| ], |
| "names": [ |
| "action_dim" |
| ], |
| "fps": 25.0 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| }, |
| "valid.frame": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 25.0 |
| } |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "state_layout": { |
| "feature": "observation.state", |
| "order": [ |
| "right", |
| "left" |
| ], |
| "per_side": [ |
| "x", |
| "y", |
| "z", |
| "rot6d_0", |
| "rot6d_1", |
| "rot6d_2", |
| "rot6d_3", |
| "rot6d_4", |
| "rot6d_5", |
| "gripper_angle_rad" |
| ], |
| "rotation_6d_layout": "first_two_rows", |
| "gripper_unit": "rad", |
| "invalid_policy": "carry_forward_state_with_observation.state_valid_false" |
| }, |
| "action_layout": { |
| "feature": "action", |
| "type": "absolute_next_state_target", |
| "order": [ |
| "right", |
| "left" |
| ], |
| "per_side": [ |
| "x", |
| "y", |
| "z", |
| "rot6d_0", |
| "rot6d_1", |
| "rot6d_2", |
| "rot6d_3", |
| "rot6d_4", |
| "rot6d_5", |
| "target_gripper_angle_rad" |
| ], |
| "rotation_6d_layout": "first_two_rows", |
| "gripper_unit": "rad", |
| "shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0" |
| }, |
| "video_processing": { |
| "source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index", |
| "media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped", |
| "present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames", |
| "read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache", |
| "read_modes_used": [ |
| "sequential" |
| ], |
| "video_profile": "medium_native_mosaic", |
| "crop": "none", |
| "resize": null, |
| "output_sizes": { |
| "observation.images.head_main": [ |
| 640, |
| 512 |
| ], |
| "observation.images.head_main_stereo_right": [ |
| 640, |
| 512 |
| ], |
| "observation.images.left_hand_down": [ |
| 640, |
| 512 |
| ], |
| "observation.images.left_hand_up": [ |
| 640, |
| 512 |
| ], |
| "observation.images.right_hand_down": [ |
| 640, |
| 512 |
| ], |
| "observation.images.right_hand_up": [ |
| 640, |
| 512 |
| ] |
| }, |
| "face_anonymization": { |
| "enabled": true, |
| "failure_policy": "fail_closed_per_sample", |
| "faces_json_policy": "reuse_valid_streams_detect_missing", |
| "model": "yolov11s-face.pt", |
| "device": "auto", |
| "batch_size": 64, |
| "mosaic": { |
| "box_scale": 1.15, |
| "center_fraction": 0.45, |
| "pixel_block": 12, |
| "feather_px": 8, |
| "opacity": 0.92, |
| "center_mean_mix": 0.08, |
| "shape": "ellipse" |
| }, |
| "total_detected_faces": 294498 |
| }, |
| "codec": "h264", |
| "gop_size": 4, |
| "backend_requested": "auto", |
| "backend_used": [ |
| "gpu" |
| ], |
| "decode_backend_requested": "cpu", |
| "decode_backend_used": [ |
| "cpu" |
| ], |
| "frame_preprocess_requested": "cpu", |
| "frame_preprocess_used": [ |
| "cpu_native_mosaic" |
| ], |
| "pix_fmt": "yuv420p", |
| "crf_or_cq": 20, |
| "aligned_video_frames": "one video frame per data row" |
| }, |
| "parallelism": { |
| "workers": 16, |
| "video_workers": 8, |
| "progress": true, |
| "order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat" |
| }, |
| "invalid_policy": { |
| "training_filter": "valid.frame == true", |
| "state": "state requires both eef pose and selected gripper valid", |
| "media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped" |
| }, |
| "source": { |
| "format": "robot_sample_v1_sparse_revision", |
| "converter": "convert_standard_umi_alike_to_lerobotv3.py", |
| "robot_types": [ |
| "simpleai_umi_4.0" |
| ], |
| "robot_type_source": "revision_json_embodiment_name", |
| "media_map": { |
| "head_main": "observation.images.head_main", |
| "head_main_stereo_right": "observation.images.head_main_stereo_right", |
| "left_hand_down": "observation.images.left_hand_down", |
| "left_hand_up": "observation.images.left_hand_up", |
| "right_hand_down": "observation.images.right_hand_down", |
| "right_hand_up": "observation.images.right_hand_up" |
| }, |
| "media_key_source": "revision_json_components_media_key", |
| "gripper_mode": "angle" |
| } |
| } |
|
|
