Datasets:
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "rlbench_panda", | |
| "total_episodes": 100, | |
| "total_frames": 14460, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:100" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.images.front": { | |
| "dtype": "image", | |
| "shape": [ | |
| 128, | |
| 128, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 108 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "low_dim_state_0", | |
| "low_dim_state_1", | |
| "low_dim_state_2", | |
| "low_dim_state_3", | |
| "low_dim_state_4", | |
| "low_dim_state_5", | |
| "low_dim_state_6", | |
| "low_dim_state_7", | |
| "low_dim_state_8", | |
| "low_dim_state_9", | |
| "low_dim_state_10", | |
| "low_dim_state_11", | |
| "low_dim_state_12", | |
| "low_dim_state_13", | |
| "low_dim_state_14", | |
| "low_dim_state_15", | |
| "low_dim_state_16", | |
| "low_dim_state_17", | |
| "low_dim_state_18", | |
| "low_dim_state_19", | |
| "low_dim_state_20", | |
| "low_dim_state_21", | |
| "low_dim_state_22", | |
| "low_dim_state_23", | |
| "low_dim_state_24", | |
| "low_dim_state_25", | |
| "low_dim_state_26", | |
| "low_dim_state_27", | |
| "low_dim_state_28", | |
| "low_dim_state_29", | |
| "low_dim_state_30", | |
| "low_dim_state_31", | |
| "low_dim_state_32", | |
| "low_dim_state_33", | |
| "low_dim_state_34", | |
| "low_dim_state_35", | |
| "low_dim_state_36", | |
| "low_dim_state_37", | |
| "low_dim_state_38", | |
| "low_dim_state_39", | |
| "low_dim_state_40", | |
| "low_dim_state_41", | |
| "low_dim_state_42", | |
| "low_dim_state_43", | |
| "low_dim_state_44", | |
| "low_dim_state_45", | |
| "low_dim_state_46", | |
| "low_dim_state_47", | |
| "low_dim_state_48", | |
| "low_dim_state_49", | |
| "low_dim_state_50", | |
| "low_dim_state_51", | |
| "low_dim_state_52", | |
| "low_dim_state_53", | |
| "low_dim_state_54", | |
| "low_dim_state_55", | |
| "low_dim_state_56", | |
| "low_dim_state_57", | |
| "low_dim_state_58", | |
| "low_dim_state_59", | |
| "low_dim_state_60", | |
| "low_dim_state_61", | |
| "low_dim_state_62", | |
| "low_dim_state_63", | |
| "low_dim_state_64", | |
| "low_dim_state_65", | |
| "low_dim_state_66", | |
| "low_dim_state_67", | |
| "low_dim_state_68", | |
| "low_dim_state_69", | |
| "low_dim_state_70", | |
| "low_dim_state_71", | |
| "low_dim_state_72", | |
| "low_dim_state_73", | |
| "low_dim_state_74", | |
| "low_dim_state_75", | |
| "low_dim_state_76", | |
| "low_dim_state_77", | |
| "low_dim_state_78", | |
| "low_dim_state_79", | |
| "low_dim_state_80", | |
| "low_dim_state_81", | |
| "low_dim_state_82", | |
| "low_dim_state_83", | |
| "low_dim_state_84", | |
| "low_dim_state_85", | |
| "low_dim_state_86", | |
| "low_dim_state_87", | |
| "low_dim_state_88", | |
| "low_dim_state_89", | |
| "low_dim_state_90", | |
| "low_dim_state_91", | |
| "low_dim_state_92", | |
| "low_dim_state_93", | |
| "low_dim_state_94", | |
| "low_dim_state_95", | |
| "low_dim_state_96", | |
| "low_dim_state_97", | |
| "low_dim_state_98", | |
| "low_dim_state_99", | |
| "low_dim_state_100", | |
| "low_dim_state_101", | |
| "low_dim_state_102", | |
| "low_dim_state_103", | |
| "low_dim_state_104", | |
| "low_dim_state_105", | |
| "low_dim_state_106", | |
| "low_dim_state_107" | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "joint_0", | |
| "joint_1", | |
| "joint_2", | |
| "joint_3", | |
| "joint_4", | |
| "joint_5", | |
| "joint_6" | |
| ] | |
| } | |
| }, | |
| "done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "success": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "language_instruction": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_name": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "source_episode_id": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "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 | |
| } | |
| } | |
| } |