AdleBens commited on
Commit
8d653cc
·
verified ·
1 Parent(s): 97bc164

Upload folder using huggingface_hub

Browse files
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
+ # wave_emote
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 sha256:8b4a3b03494526bdc746a50a276deab4746b4299aa79286866fa51472b63a86e
3
+ size 10420
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":88}
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": 88,
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
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "motor_1",
38
+ "motor_2",
39
+ "motor_3",
40
+ "motor_4",
41
+ "motor_5",
42
+ "motor_6"
43
+ ]
44
+ },
45
+ "timestamp": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "episode_index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "frame_index": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "task_index": {
67
+ "dtype": "int64",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "names": null
72
+ },
73
+ "index": {
74
+ "dtype": "int64",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "names": null
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 +1,266 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.3007336557282537,
5
+ 0.33142076345562654,
6
+ 1.6801191480736624,
7
+ 0.42808515279685094,
8
+ -1.617210577232548,
9
+ 0.07825212470480071
10
+ ],
11
+ "min": [
12
+ -0.016877909250055056,
13
+ -1.8197454882332087,
14
+ -1.150766539776481,
15
+ -2.074448482370403,
16
+ -1.6356228418689718,
17
+ 0.05523679390927109
18
+ ],
19
+ "mean": [
20
+ 0.05766037798546702,
21
+ -1.099400506046458,
22
+ 0.7286444499584724,
23
+ -1.4881503662109485,
24
+ -1.6243941501778165,
25
+ 0.06385010710093132
26
+ ],
27
+ "std": null,
28
+ "sum": [
29
+ 5.074113262721098,
30
+ -96.7472445320883,
31
+ 64.12071159634557,
32
+ -130.95723222656346,
33
+ -142.94668521564785,
34
+ 5.618809424881956
35
+ ],
36
+ "square_sum": [
37
+ 0.7535683924713072,
38
+ 154.4069967851902,
39
+ 128.38720110374044,
40
+ 237.8132542007333,
41
+ 232.20475171287163,
42
+ 0.36511537369790936
43
+ ],
44
+ "count": 88
45
+ },
46
+ "action": {
47
+ "max": [
48
+ 0.3007336557282537,
49
+ 0.33142076345562654,
50
+ 1.6801191480736624,
51
+ 0.42808515279685094,
52
+ -1.617210577232548,
53
+ 0.07825212470480071
54
+ ],
55
+ "min": [
56
+ -0.016877909250055056,
57
+ -1.8197454882332087,
58
+ -1.150766539776481,
59
+ -2.074448482370403,
60
+ -1.6356228418689718,
61
+ 0.05523679390927109
62
+ ],
63
+ "mean": [
64
+ 0.05766037798546702,
65
+ -1.099400506046458,
66
+ 0.7286444499584724,
67
+ -1.4881503662109485,
68
+ -1.6243941501778165,
69
+ 0.06385010710093132
70
+ ],
71
+ "std": null,
72
+ "sum": [
73
+ 5.074113262721098,
74
+ -96.7472445320883,
75
+ 64.12071159634557,
76
+ -130.95723222656346,
77
+ -142.94668521564785,
78
+ 5.618809424881956
79
+ ],
80
+ "square_sum": [
81
+ 0.7535683924713072,
82
+ 154.4069967851902,
83
+ 128.38720110374044,
84
+ 237.8132542007333,
85
+ 232.20475171287163,
86
+ 0.36511537369790936
87
+ ],
88
+ "count": 88
89
+ },
90
+ "timestamp": {
91
+ "max": [
92
+ 14.034520332934335
93
+ ],
94
+ "min": [
95
+ 0.06759295798838139
96
+ ],
97
+ "mean": [
98
+ 7.533749861890101
99
+ ],
100
+ "std": null,
101
+ "sum": [
102
+ 662.9699878463289
103
+ ],
104
+ "square_sum": [
105
+ 6354.016371291396
106
+ ],
107
+ "count": 88
108
+ },
109
+ "frame_index": {
110
+ "max": [
111
+ 87
112
+ ],
113
+ "min": [
114
+ 0
115
+ ],
116
+ "mean": [
117
+ 43.5
118
+ ],
119
+ "std": null,
120
+ "sum": [
121
+ 3828
122
+ ],
123
+ "square_sum": [
124
+ 223300
125
+ ],
126
+ "count": 88
127
+ },
128
+ "episode_index": {
129
+ "max": [
130
+ 0
131
+ ],
132
+ "min": [
133
+ 0
134
+ ],
135
+ "mean": [
136
+ 0.0
137
+ ],
138
+ "std": null,
139
+ "sum": [
140
+ 0
141
+ ],
142
+ "square_sum": [
143
+ 0
144
+ ],
145
+ "count": 88
146
+ },
147
+ "index": {
148
+ "max": [
149
+ 87
150
+ ],
151
+ "min": [
152
+ 0
153
+ ],
154
+ "mean": [
155
+ 43.5
156
+ ],
157
+ "std": null,
158
+ "sum": [
159
+ 3828
160
+ ],
161
+ "square_sum": [
162
+ 223300
163
+ ],
164
+ "count": 88
165
+ },
166
+ "task_index": {
167
+ "max": [
168
+ 0
169
+ ],
170
+ "min": [
171
+ 0
172
+ ],
173
+ "mean": [
174
+ 0.0
175
+ ],
176
+ "std": null,
177
+ "sum": [
178
+ 0
179
+ ],
180
+ "square_sum": [
181
+ 0
182
+ ],
183
+ "count": 88
184
+ },
185
+ "observation.images.main": {
186
+ "max": [
187
+ [
188
+ [
189
+ 1.0
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 1.0
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 1.0
200
+ ]
201
+ ]
202
+ ],
203
+ "min": [
204
+ [
205
+ [
206
+ 0.0
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ]
219
+ ],
220
+ "mean": [
221
+ [
222
+ [
223
+ 0.5865168161103219
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.5671249482125947
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.536311737985322
234
+ ]
235
+ ]
236
+ ],
237
+ "std": [
238
+ [
239
+ [
240
+ 0.2452848427756466
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.23042353356759068
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.19533731418688738
251
+ ]
252
+ ]
253
+ ],
254
+ "sum": [
255
+ 3963915.25,
256
+ 3832857.25,
257
+ 3624609.25
258
+ ],
259
+ "square_sum": [
260
+ 2731519.75,
261
+ 2532546.25,
262
+ 2201798.5
263
+ ],
264
+ "count": 6758400
265
+ }
266
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"None"}
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 sha256:0bb492dcd32a2acd901a462afe7089e26f6fe90057e2b8b83e9c013ab8ed2a8a
3
+ size 355017