| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "KIA Niro EV 2023", | |
| "total_episodes": 10000, | |
| "total_frames": 2298363, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:10000" | |
| }, | |
| "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.vehicle": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "speed", | |
| "heading", | |
| "heading_error", | |
| "hp_loc_latitude", | |
| "hp_loc_longitude", | |
| "hp_loc_altitude", | |
| "acceleration_x", | |
| "acceleration_y" | |
| ] | |
| } | |
| }, | |
| "observation.state.lanes": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.road": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.surface": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.max_speed": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.precipitation": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.conditions": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.lighting": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.state.waypoints": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 10, | |
| 2 | |
| ], | |
| "names": [ | |
| "way", | |
| "points" | |
| ] | |
| }, | |
| "observation.state.timestamp": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "unix_epoc_timestamp" | |
| ] | |
| } | |
| }, | |
| "task.policy": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task.instructions": { | |
| "dtype": "string", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "action.continuous": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "gas_pedal_normalized", | |
| "brake_pedal_normalized", | |
| "steering_angle_normalized" | |
| ] | |
| } | |
| }, | |
| "action.discrete": { | |
| "dtype": "int32", | |
| "shape": [ | |
| 2 | |
| ], | |
| "names": { | |
| "axes": [ | |
| "gear", | |
| "turn_signal" | |
| ] | |
| } | |
| }, | |
| "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 | |
| }, | |
| "observation.images.left_forward": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.front_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.right_forward": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.left_backward": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.rear": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.right_backward": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 1080, | |
| 1920 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observation.images.map": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| } | |
| } | |
| } |