{ "codebase_version": "v3.0", "robot_type": "bimanual", "total_episodes": 50, "total_frames": 25250, "total_tasks": 50, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:50" }, "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.state": { "dtype": "float32", "shape": [ 18 ], "names": [ "q0", "q1", "q2", "q3", "q4", "q5", "q6", "q7", "q8", "q9", "q10", "q11", "q12", "q13", "q14", "q15", "q16", "q17" ] }, "action": { "dtype": "float32", "shape": [ 16 ], "names": [ "a0", "a1", "a2", "a3", "a4", "a5", "a6", "a7", "a8", "a9", "a10", "a11", "a12", "a13", "a14", "a15" ] }, "observation.images.base_camera": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.top_cam": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.left_cam": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.right_cam": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } }