| { |
| "codebase_version": "v3.0", |
| "fps": 20, |
| "features": { |
| "observation.images.robot0_agentview_left": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
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| }, |
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| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.crf": null, |
| "video.video_backend": "pyav", |
| "video.fast_decode": null, |
| "video.extra_options": null, |
| "video.preset": null, |
| "video.g": null |
| } |
| }, |
| "observation.images.robot0_agentview_right": { |
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| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
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| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "info": { |
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| "video.width": 256, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
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| "video.fps": 20, |
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| "has_audio": false, |
| "video.crf": null, |
| "video.video_backend": "pyav", |
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| "video.extra_options": null, |
| "video.preset": null, |
| "video.g": null |
| } |
| }, |
| "observation.images.robot0_eye_in_hand": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
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| "video.video_backend": "pyav", |
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| "video.extra_options": null, |
| "video.preset": null, |
| "video.g": null |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "fps": 20 |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "state_0", |
| "state_1", |
| "state_2", |
| "state_3", |
| "state_4", |
| "state_5", |
| "state_6", |
| "state_7", |
| "state_8", |
| "state_9", |
| "state_10", |
| "state_11", |
| "state_12", |
| "state_13", |
| "state_14", |
| "state_15" |
| ], |
| "fps": 20 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| ], |
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| }, |
| "episode_index": { |
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| }, |
| "index": { |
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| }, |
| "task_index": { |
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| ], |
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| }, |
| "language_persistent": { |
| "dtype": "language", |
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| 1 |
| ], |
| "names": null |
| }, |
| "language_events": { |
| "dtype": "language", |
| "shape": [ |
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| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 1002, |
| "total_frames": 130886, |
| "total_tasks": 14, |
| "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": "robocasa", |
| "splits": { |
| "train": "0:1002" |
| }, |
| "tools": [ |
| { |
| "type": "function", |
| "function": { |
| "name": "say", |
| "description": "Speak a short utterance to the user via the TTS executor.", |
| "parameters": { |
| "type": "object", |
| "properties": { |
| "text": { |
| "type": "string", |
| "description": "The verbatim text to speak." |
| } |
| }, |
| "required": [ |
| "text" |
| ] |
| } |
| } |
| } |
| ] |
| } |
