| { |
| "codebase_version": "v3.0", |
| "robot_type": "so_follower", |
| "total_episodes": 255, |
| "total_frames": 100547, |
| "total_tasks": 3, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:255" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.main": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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 |
| } |
| }, |
| "task1_all_plus_task2_grasp_close_prefix_raw": { |
| "description": "Raw merge of all Task1 episodes plus one grasp-close prefix from each raw Task2 episode. No lighting augmentation.", |
| "task1_source_datasets": [ |
| { |
| "name": "task1_20260509", |
| "repo_id": "ethrl2026/so101_pickup_20260509_173953_task1", |
| "episode_blocks": [ |
| { |
| "target_color": "blue", |
| "count": 20 |
| }, |
| { |
| "target_color": "red", |
| "count": 20 |
| }, |
| { |
| "target_color": "green", |
| "count": 20 |
| } |
| ] |
| }, |
| { |
| "name": "task1_extra_20260512", |
| "repo_id": "ethrl2026/so101_pickup_20260512_173830_task1_extra", |
| "episode_blocks": [ |
| { |
| "target_color": "blue", |
| "count": 10 |
| }, |
| { |
| "target_color": "red", |
| "count": 10 |
| }, |
| { |
| "target_color": "green", |
| "count": 10 |
| } |
| ] |
| }, |
| { |
| "name": "task1_extra2_20260515_reupload2", |
| "repo_id": "ethrl2026/so101_pickup_20260515_200119_task1_extra2", |
| "episode_blocks": [ |
| { |
| "target_color": "blue", |
| "count": 30 |
| }, |
| { |
| "target_color": "red", |
| "count": 30 |
| }, |
| { |
| "target_color": "green", |
| "count": 30 |
| } |
| ] |
| } |
| ], |
| "task2_source_dataset": ".artifacts/hf_datasets/ethrl2026_so101_pickup_20260509_193247_task2", |
| "task2_prefix_prompt_assignment": "Balanced random assignment of basic blue/red/green Task1 prompts; seed recorded below.", |
| "seed": 42, |
| "grasp_detector": { |
| "action_dim": 5, |
| "open_threshold": 35.0, |
| "close_threshold": 8.0, |
| "open_fraction": 0.55, |
| "close_fraction": 0.12, |
| "min_frames_after_open": 8, |
| "close_search_window": 45, |
| "post_grasp_frames": 20 |
| }, |
| "prefix_length_summary": { |
| "count": 75, |
| "min": 200, |
| "mean": 281.50666666666666, |
| "median": 282.0, |
| "max": 365 |
| }, |
| "image_stats_note": "Action/state/index stats are recomputed. Image stats are copied from the first Task1 source dataset." |
| } |
| } |
|
|
