| { |
| "codebase_version": "v3.0", |
| "fps": 10, |
| "features": { |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
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| "video.codec": "av1", |
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| "video.video_backend": "pyav", |
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| } |
| }, |
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| 480, |
| 640, |
| 1 |
| ], |
| "names": [ |
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| "width", |
| "channels" |
| ], |
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| "depth_unit": "mm", |
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| "video.width": 640, |
| "video.codec": "hevc", |
| "video.pix_fmt": "gray12le", |
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| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": { |
| "x265-params": "lossless=1:log-level=error" |
| }, |
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| "video.depth_max": 10.0, |
| "video.shift": 3.5, |
| "video.use_log": true |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
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| ], |
| "names": [ |
| "vx", |
| "vy", |
| "vyaw", |
| "roll", |
| "pitch", |
| "body_height", |
| "move" |
| ] |
| }, |
| "observation.pad": { |
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| 4 |
| ], |
| "names": [ |
| "lx", |
| "ly", |
| "rx", |
| "ry" |
| ] |
| }, |
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| ], |
| "names": [ |
| "move" |
| ] |
| }, |
| "action": { |
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| 3 |
| ], |
| "names": [ |
| "vx", |
| "vy", |
| "vyaw" |
| ] |
| }, |
| "timestamp": { |
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| ], |
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| }, |
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| "task_index": { |
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| } |
| }, |
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| "total_frames": 7164, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "unitree_go2", |
| "splits": { |
| "train": "0:11" |
| } |
| } |
