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Also known as itag or format codes and way back they could be specified with the fmt parameter (e.g. &fmt=22).
Depending on the age and/or popularity of the video, not all formats will be available.
DASH video
Resolution
AV1 HFR High
AV1 HFR
AV1
VP9.2 HDR HFR
VP9 HFR
VP9
H.264 HFR
H.264
MP4
MP4
MP4
WebM
WebM
WebM
MP4
MP4
4320p
402/571
272
138
2160p
701
401
337
315
(313)
(305)
(266)
1440p
700
400
336
308
(271)
(304)
(264)
1080p
699
399
335
303
(248)
299
(137)
720p
698
398
334
302
247
298
136
480p
697
397
333
244
135
360p
696
396
332
243
134
240p
695
395
331
242
133
144p
694
394
330
278
160
HFR stands for "High Framerate", which means up to 60 FPS, whereas non-HFR is limited to 30 FPS
Non-HFR 1080p+ H.264 and VP9 variants are not provided for HFR videos anymore
Same IDs are reused for 360° videos
1440p+ H.264 variants are only provided for 360° videos anymore
At the moment, AV1 variants are only provided for popular videos
All AV1 variants can be HDR (no separate non-HDR AV1 variants are offered)
AV1 HFR High: High refers to the bitrate. These variants have ~3-4 times the bitrate of their normal counterparts. Additional side effect is providing AV1 HFR variants for low resolutions (<=480p). These variants are rare even among videos with AV1 variants. Found on this video.
AV1 HFR 4320p: Format 571 has roughly 50% higher bitrate than 402. Sometimes only one of them is offered, sometimes both. Can be seen on this video.
DASH audio
Code
Container
Audio Codec
Audio Bitrate
Channels
Still offered?
139
MP4
AAC (HE v1)
48 Kbps
Stereo (2)
Rarely, YT Music
140
MP4
AAC (LC)
128 Kbps
Stereo (2)
Yes, YT Music
(141)
MP4
AAC (LC)
256 Kbps
Stereo (2)
No, YT Music*
249
WebM
Opus
(VBR) ~50 Kbps
Stereo (2)
Yes
250
WebM
Opus
(VBR) ~70 Kbps
Stereo (2)
Yes
251
WebM
Opus
(VBR) <=160 Kbps
Stereo (2)
Yes
256
MP4
AAC (HE v1)
192 Kbps
Surround (5.1)
Rarely
258
MP4
AAC (LC)
384 Kbps
Surround (5.1)
Rarely
327
MP4
AAC (LC)
256 Kbps
Surround (5.1)
?*
338
WebM
Opus
(VBR) ~480 Kbps (?)
Quadraphonic (4)
?*
Surround audio can be found on some demo videos
YT Music: These formats are offered on Youtube Music. Format 141 is only available to Premium users with High Quality option
Format 327, 338: These have been found on this Stereo 3D video
Legacy (non-DASH)
Code
Container
Video Codec
Video Res.
Audio Codec
Audio Bitrate
Channels
Still offered?
18
MP4
H.264 (Baseline, L3.0)
360p
AAC (LC)
96 Kbps
Stereo (2)
Yes, GDrive
(59)
MP4
H.264 (Main, L3.1)
480p
AAC (LC)
128 Kbps
Stereo (2)
No, GDrive
22
MP4
H.264 (High, L3.1)
720p
AAC (LC)
192 Kbps
Stereo (2)
Mostly*, GDrive
(37)
MP4
H.264 (High, L4.0)
1080p
AAC (LC)
128 Kbps
Stereo (2)
No, GDrive
Always limited to 30 FPS
GDrive: These formats are offered for Google Drive video previews. Note that the video player on GDrive displays incorrect codecs on rightclick -> stats
Format 22: Available for most videos, except music and music videos (not limited to official music channels!)
Livestreams (non-DASH)
Code
Container
Video Codec
Video Res.
Audio Codec
Audio Bitrate
Still offered?
91
MPEG-TS (HLS)
H.264 (Baseline, L1.1)
144p
AAC (HE v1)
48 Kbps
Yes
92
MPEG-TS (HLS)
H.264 (Main, L2.1)
240p
AAC (HE v1)
48 Kbps
Yes
93
MPEG-TS (HLS)
H.264 (Main, L3.0)
360p
AAC (LC)
128 Kbps
Yes
94
MPEG-TS (HLS)
H.264 (Main, L3.1)
480p
AAC (LC)
128 Kbps
Yes
95
MPEG-TS (HLS)
H.264 (Main, L3.1)
720p
AAC (LC)
256 Kbps
Yes
96
MPEG-TS (HLS)
H.264 (High, L4.0)
1080p
AAC (LC)
256 Kbps
Yes
300
MPEG-TS (HLS)
H.264 (Main, L3.2)
HFR 720p
AAC (LC)
128 Kbps
Yes
301
MPEG-TS (HLS)
H.264 (High, L4.2)
HFR 1080p
AAC (LC)
128 Kbps
Yes
Non-HFR variants are limited to 30 FPS, HFR to 60 FPS
Non-HFR variants for 720p and 1080p may not be offered if HFR is available
Livestreams are also offered through DASH video (H.264, VP9) and DASH audio (AAC) streams
Template youtube-dl formats
For archiving videos: Only choose combinations that fit WebM (VP9+Opus) or MP4 (H.264+AAC)
Well, just a thanks for this effort