Hugging Face's logo

Datasets:
AdleBens
/
rebelotte3

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
 Community
AdleBens commited on
Commit
bd4ac40
·
verified ·
1 Parent(s): c361bbb

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. README.md +15 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/info.json +101 -0
  5. meta/stats.json +290 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk1
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # rebelotte3
12
+
13
+ **This dataset was generated using a [phospho dev kit](https://robots.phospho.ai).**
14
+
15
+ This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b0eaea562d76ae0bd0f394c6abb322e713a57f531ffaa9b8a0e78207518baa43
3
+ size 5509
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up the orange brick and put it in the black box."],"length":34}
meta/info.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 34,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6"
29
+ ]
30
+ },
31
+ "timestamp": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 1
35
+ ],
36
+ "names": null
37
+ },
38
+ "episode_index": {
39
+ "dtype": "int64",
40
+ "shape": [
41
+ 1
42
+ ],
43
+ "names": null
44
+ },
45
+ "frame_index": {
46
+ "dtype": "int64",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "task_index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "index": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "observation.state": {
67
+ "dtype": "float32",
68
+ "shape": [
69
+ 6
70
+ ],
71
+ "names": [
72
+ "motor_1",
73
+ "motor_2",
74
+ "motor_3",
75
+ "motor_4",
76
+ "motor_5",
77
+ "motor_6"
78
+ ]
79
+ },
80
+ "observation.images.main": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 240,
84
+ 320,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channel"
91
+ ],
92
+ "info": {
93
+ "video_fps": 10,
94
+ "video_codec": "mp4v",
95
+ "video_pix_fmt": "yuv420p",
96
+ "video_is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ }
100
+ }
101
+ }
meta/stats.json ADDED
@@ -0,0 +1,290 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ -0.09052696779574984,
5
+ -1.4791185924593702,
6
+ 1.4223474431637306,
7
+ -1.8611730836651619,
8
+ -0.7211470315932614,
9
+ 0.029152752341004187
10
+ ],
11
+ "min": [
12
+ -0.09052696779574984,
13
+ -1.4791185924593702,
14
+ 1.4223474431637306,
15
+ -1.8611730836651619,
16
+ -0.7211470315932614,
17
+ 0.029152752341004187
18
+ ],
19
+ "mean": [
20
+ -0.09052696779574985,
21
+ -1.4791185924593713,
22
+ 1.4223474431637302,
23
+ -1.8611730836651628,
24
+ -0.7211470315932614,
25
+ 0.0291527523410042
26
+ ],
27
+ "std": [
28
+ 1.3170890159654386e-09,
29
+ NaN,
30
+ 4.2146848510894035e-08,
31
+ NaN,
32
+ 1.0536712127723509e-08,
33
+ NaN
34
+ ],
35
+ "sum": [
36
+ -3.077916905055495,
37
+ -50.290032143618625,
38
+ 48.359813067566826,
39
+ -63.27988484461554,
40
+ -24.51899907417089,
41
+ 0.9911935795941429
42
+ ],
43
+ "square_sum": [
44
+ 0.27863448454195294,
45
+ 74.38492155900565,
46
+ 68.78445646852968,
47
+ 117.77481841022929,
48
+ 17.681803399976268,
49
+ 0.028896020947901464
50
+ ],
51
+ "count": 34
52
+ },
53
+ "timestamp": {
54
+ "max": [
55
+ 3.66450574999908
56
+ ],
57
+ "min": [
58
+ 0.00624295900342986
59
+ ],
60
+ "mean": [
61
+ 1.841528643740971
62
+ ],
63
+ "std": [
64
+ 1.0899691912559997
65
+ ],
66
+ "sum": [
67
+ 62.61197388719302
68
+ ],
69
+ "square_sum": [
70
+ 155.6948598425944
71
+ ],
72
+ "count": 34
73
+ },
74
+ "frame_index": {
75
+ "max": [
76
+ 33
77
+ ],
78
+ "min": [
79
+ 0
80
+ ],
81
+ "mean": [
82
+ 16.5
83
+ ],
84
+ "std": [
85
+ 9.810708435174291
86
+ ],
87
+ "sum": [
88
+ 561
89
+ ],
90
+ "square_sum": [
91
+ 12529
92
+ ],
93
+ "count": 34
94
+ },
95
+ "episode_index": {
96
+ "max": [
97
+ 0
98
+ ],
99
+ "min": [
100
+ 0
101
+ ],
102
+ "mean": [
103
+ 0.0
104
+ ],
105
+ "std": [
106
+ 0.0
107
+ ],
108
+ "sum": [
109
+ 0
110
+ ],
111
+ "square_sum": [
112
+ 0
113
+ ],
114
+ "count": 34
115
+ },
116
+ "index": {
117
+ "max": [
118
+ 33
119
+ ],
120
+ "min": [
121
+ 0
122
+ ],
123
+ "mean": [
124
+ 16.5
125
+ ],
126
+ "std": [
127
+ 9.810708435174291
128
+ ],
129
+ "sum": [
130
+ 561
131
+ ],
132
+ "square_sum": [
133
+ 12529
134
+ ],
135
+ "count": 34
136
+ },
137
+ "task_index": {
138
+ "max": [
139
+ 0
140
+ ],
141
+ "min": [
142
+ 0
143
+ ],
144
+ "mean": [
145
+ 0.0
146
+ ],
147
+ "std": [
148
+ 0.0
149
+ ],
150
+ "sum": [
151
+ 0
152
+ ],
153
+ "square_sum": [
154
+ 0
155
+ ],
156
+ "count": 34
157
+ },
158
+ "observation.state": {
159
+ "max": [
160
+ -0.09052696779574984,
161
+ -1.4791185924593702,
162
+ 1.4223474431637306,
163
+ -1.8611730836651619,
164
+ -0.7211470315932614,
165
+ 0.029152752341004187
166
+ ],
167
+ "min": [
168
+ -0.09052696779574984,
169
+ -1.4791185924593702,
170
+ 1.4223474431637306,
171
+ -1.8611730836651619,
172
+ -0.7211470315932614,
173
+ 0.029152752341004187
174
+ ],
175
+ "mean": [
176
+ -0.09052696779574985,
177
+ -1.4791185924593713,
178
+ 1.4223474431637302,
179
+ -1.8611730836651628,
180
+ -0.7211470315932614,
181
+ 0.0291527523410042
182
+ ],
183
+ "std": [
184
+ 1.3170890159654386e-09,
185
+ NaN,
186
+ 4.2146848510894035e-08,
187
+ NaN,
188
+ 1.0536712127723509e-08,
189
+ NaN
190
+ ],
191
+ "sum": [
192
+ -3.077916905055495,
193
+ -50.290032143618625,
194
+ 48.359813067566826,
195
+ -63.27988484461554,
196
+ -24.51899907417089,
197
+ 0.9911935795941429
198
+ ],
199
+ "square_sum": [
200
+ 0.27863448454195294,
201
+ 74.38492155900565,
202
+ 68.78445646852968,
203
+ 117.77481841022929,
204
+ 17.681803399976268,
205
+ 0.028896020947901464
206
+ ],
207
+ "count": 34
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "min": [
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.6269685393688725
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.5980108762254902
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.5445113836550245
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.1713773362317578
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.18398503333279573
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.17914776711830122
275
+ ]
276
+ ]
277
+ ],
278
+ "sum": [
279
+ 1637140.25,
280
+ 1561526.0,
281
+ 1421828.125
282
+ ],
283
+ "square_sum": [
284
+ 1103126.875,
285
+ 1022199.9375,
286
+ 858005.25
287
+ ],
288
+ "count": 2611200
289
+ }
290
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up the orange brick and put it in the black box."}
videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7c9c5b7fc5b945afd67b7ead1d4bbdc97e513d6eebf5902d1baefcbb34d54af
3
+ size 53509