$ youtube-dl -F https://www.youtube.com/watch?v=RElbcJnY5-4
[youtube] RElbcJnY5-4: Downloading webpage
[info] Available formats for RElbcJnY5-4:
format code extension resolution note
249 webm audio only tiny 43k , webm_dash container, opus @ 43k (48000Hz), 677.50KiB
250 webm audio only tiny 56k , webm_dash container, opus @ 56k (48000Hz), 891.60KiB
251 webm audio only tiny 111k , webm_dash container, opus @111k (48000Hz), 1.71MiB
140 m4a audio only tiny 129k , m4a_dash container, mp4a.40.2@129k (44100Hz), 1.99MiB
256 m4a audio only tiny 195k , m4a_dash container, mp4a.40.5@195k (24000Hz), 3.00MiB
380 m4a audio only tiny 384k , m4a_dash container, ac-3 @384k (48000Hz), 5.90MiB
328 m4a audio only tiny 384k , m4a_dash container, ec-3 @384k (48000Hz), 5.90MiB
258 m4a audio only tiny 387k , m4a_dash container, mp4a.40.2@387k (48000Hz), 5.96MiB
278 webm 256x144 144p 59k , webm_dash container, vp9@ 59k, 25fps, video only, 932.60KiB
160 mp4 256x144 144p 68k , mp4_dash container, avc1.4d400c@ 68k, 25fps, video only, 1.06MiB
242 webm 426x240 240p 100k , webm_dash container, vp9@ 100k, 25fps, video only, 1.55MiB
133 mp4 426x240 240p 148k , mp4_dash container, avc1.4d4015@ 148k, 25fps, video only, 2.28MiB
243 webm 640x360 360p 172k , webm_dash container, vp9@ 172k, 25fps, video only, 2.65MiB
134 mp4 640x360 360p 323k , mp4_dash container, avc1.4d401e@ 323k, 25fps, video only, 4.96MiB
244 webm 854x480 480p 297k , webm_dash container, vp9@ 297k, 25fps, video only, 4.57MiB
135 mp4 854x480 480p 616k , mp4_dash container, avc1.4d401e@ 616k, 25fps, video only, 9.46MiB
247 webm 1280x720 720p 554k , webm_dash container, vp9@ 554k, 25fps, video only, 8.52MiB
136 mp4 1280x720 720p 1186k , mp4_dash container, avc1.4d401f@1186k, 25fps, video only, 18.22MiB
248 webm 1920x1080 1080p 918k , webm_dash container, vp9@ 918k, 25fps, video only, 14.10MiB
137 mp4 1920x1080 1080p 2553k , mp4_dash container, avc1.640028@2553k, 25fps, video only, 39.19MiB
18 mp4 640x360 360p 485k , avc1.42001E, 25fps, mp4a.40.2 (44100Hz), 7.46MiB
22 mp4 1280x720 720p 1677k , avc1.64001F, 25fps, mp4a.40.2 (44100Hz) (best)