{ "codebase_version": "v3.0", "robot_type": "R1Pro", "total_episodes": 2000, "total_frames": 21227314, "total_tasks": 10, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 30, "splits": { "train": "0:2000" }, "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.images.rgb.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.rgb.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.rgb.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.depth.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.depth.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.depth.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.seg_instance_id.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.seg_instance_id.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.seg_instance_id.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "action": { "dtype": "float32", "shape": [ 23 ], "names": null, "fps": 30 }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.cam_rel_poses": { "dtype": "float32", "shape": [ 21 ], "names": null, "fps": 30 }, "observation.state": { "dtype": "float32", "shape": [ 256 ], "names": null, "fps": 30 }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } }