AliKAgha commited on
Commit
bdfa887
·
verified ·
1 Parent(s): 7a90e53

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
+ # Bike_Redo_Prod
12
+
13
+ **This dataset was generated using a [phospho starter pack](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:acdfedf11febc4b2dc1b4cfb717e0823ae58ff4642b59f6e09adebe2648f495d
3
+ size 33976
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Draw a bike "],"length":347}
meta/info.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 347,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ 12
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6",
29
+ "motor_1_secondary",
30
+ "motor_2_secondary",
31
+ "motor_3_secondary",
32
+ "motor_4_secondary",
33
+ "motor_5_secondary",
34
+ "motor_6_secondary"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "motor_1",
44
+ "motor_2",
45
+ "motor_3",
46
+ "motor_4",
47
+ "motor_5",
48
+ "motor_6",
49
+ "motor_1_secondary",
50
+ "motor_2_secondary",
51
+ "motor_3_secondary",
52
+ "motor_4_secondary",
53
+ "motor_5_secondary",
54
+ "motor_6_secondary"
55
+ ]
56
+ },
57
+ "timestamp": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 1
61
+ ],
62
+ "names": null
63
+ },
64
+ "episode_index": {
65
+ "dtype": "int64",
66
+ "shape": [
67
+ 1
68
+ ],
69
+ "names": null
70
+ },
71
+ "frame_index": {
72
+ "dtype": "int64",
73
+ "shape": [
74
+ 1
75
+ ],
76
+ "names": null
77
+ },
78
+ "task_index": {
79
+ "dtype": "int64",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "observation.images.main": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 240,
96
+ 320,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channel"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30,
106
+ "video.codec": "mp4v",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "has_audio": false
110
+ }
111
+ }
112
+ }
113
+ }
meta/stats.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.603001666842876,
5
+ -0.33448947422836384,
6
+ 1.5573707171641709,
7
+ -0.2086723325461352,
8
+ 0.4633753266833297,
9
+ 0.006137421545474565,
10
+ 0.641360551502092,
11
+ -0.3390925403874697,
12
+ 1.5543020063914337,
13
+ -0.16417602634144463,
14
+ 0.48792501286522794,
15
+ 0.0
16
+ ],
17
+ "min": [
18
+ -0.01227484309094913,
19
+ -1.8427608190287383,
20
+ 0.3667109373421053,
21
+ -1.8857227698470602,
22
+ -0.2807870357054614,
23
+ 0.006137421545474565,
24
+ -0.0444963062046906,
25
+ -1.890325836006166,
26
+ 0.29766494495551643,
27
+ -1.8887914806197974,
28
+ -0.29459623418277914,
29
+ -0.0030687107727372827
30
+ ],
31
+ "mean": [
32
+ 0.22864548320961434,
33
+ -1.1055494844998046,
34
+ 0.9421649556055076,
35
+ -1.1835186157039528,
36
+ 0.14235457437680724,
37
+ 0.006137421545474569,
38
+ 0.23541964013156488,
39
+ -1.1355423737958787,
40
+ 0.9144758102757112,
41
+ -1.1859903870612383,
42
+ 0.1444328078972489,
43
+ -0.00228605687248583
44
+ ],
45
+ "std": null,
46
+ "sum": [
47
+ 79.33998267373617,
48
+ -383.6256711214322,
49
+ 326.93123959511115,
50
+ -410.68095964927164,
51
+ 49.39703730875211,
52
+ 2.1296852762796754,
53
+ 81.69061512565301,
54
+ -394.0332037071699,
55
+ 317.3231061656718,
56
+ -411.53866431024966,
57
+ 50.11818434034537,
58
+ -0.793261734752583
59
+ ],
60
+ "square_sum": [
61
+ 29.638802183131045,
62
+ 527.5562835843801,
63
+ 369.0451477939514,
64
+ 574.1218305370138,
65
+ 14.857578729149225,
66
+ 0.013070776299718862,
67
+ 31.769451723814985,
68
+ 558.910785245609,
69
+ 356.1531247188153,
70
+ 576.5192985992986,
71
+ 15.573721665778198,
72
+ 0.0021305930387690054
73
+ ],
74
+ "count": 347
75
+ },
76
+ "action": {
77
+ "max": [
78
+ 0.603001666842876,
79
+ -0.33448947422836384,
80
+ 1.5573707171641709,
81
+ -0.2086723325461352,
82
+ 0.4633753266833297,
83
+ 0.006137421545474565,
84
+ 0.641360551502092,
85
+ -0.3390925403874697,
86
+ 1.5543020063914337,
87
+ -0.16417602634144463,
88
+ 0.48792501286522794,
89
+ 0.0
90
+ ],
91
+ "min": [
92
+ -0.01227484309094913,
93
+ -1.8427608190287383,
94
+ 0.3667109373421053,
95
+ -1.8857227698470602,
96
+ -0.2807870357054614,
97
+ 0.006137421545474565,
98
+ -0.0444963062046906,
99
+ -1.890325836006166,
100
+ 0.29766494495551643,
101
+ -1.8887914806197974,
102
+ -0.29459623418277914,
103
+ -0.0030687107727372827
104
+ ],
105
+ "mean": [
106
+ 0.22864548320961434,
107
+ -1.1055494844998046,
108
+ 0.9421649556055076,
109
+ -1.1835186157039528,
110
+ 0.14235457437680724,
111
+ 0.006137421545474569,
112
+ 0.23541964013156488,
113
+ -1.1355423737958787,
114
+ 0.9144758102757112,
115
+ -1.1859903870612383,
116
+ 0.1444328078972489,
117
+ -0.00228605687248583
118
+ ],
119
+ "std": null,
120
+ "sum": [
121
+ 79.33998267373617,
122
+ -383.6256711214322,
123
+ 326.93123959511115,
124
+ -410.68095964927164,
125
+ 49.39703730875211,
126
+ 2.1296852762796754,
127
+ 81.69061512565301,
128
+ -394.0332037071699,
129
+ 317.3231061656718,
130
+ -411.53866431024966,
131
+ 50.11818434034537,
132
+ -0.793261734752583
133
+ ],
134
+ "square_sum": [
135
+ 29.638802183131045,
136
+ 527.5562835843801,
137
+ 369.0451477939514,
138
+ 574.1218305370138,
139
+ 14.857578729149225,
140
+ 0.013070776299718862,
141
+ 31.769451723814985,
142
+ 558.910785245609,
143
+ 356.1531247188153,
144
+ 576.5192985992986,
145
+ 15.573721665778198,
146
+ 0.0021305930387690054
147
+ ],
148
+ "count": 347
149
+ },
150
+ "timestamp": {
151
+ "max": [
152
+ 23.67126416694373
153
+ ],
154
+ "min": [
155
+ 0.06605254206806421
156
+ ],
157
+ "mean": [
158
+ 11.854473707015204
159
+ ],
160
+ "std": null,
161
+ "sum": [
162
+ 4113.502376334276
163
+ ],
164
+ "square_sum": [
165
+ 64798.73944175776
166
+ ],
167
+ "count": 347
168
+ },
169
+ "frame_index": {
170
+ "max": [
171
+ 346
172
+ ],
173
+ "min": [
174
+ 0
175
+ ],
176
+ "mean": [
177
+ 173.0
178
+ ],
179
+ "std": null,
180
+ "sum": [
181
+ 60031
182
+ ],
183
+ "square_sum": [
184
+ 13867161
185
+ ],
186
+ "count": 347
187
+ },
188
+ "episode_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": null,
199
+ "sum": [
200
+ 0
201
+ ],
202
+ "square_sum": [
203
+ 0
204
+ ],
205
+ "count": 347
206
+ },
207
+ "index": {
208
+ "max": [
209
+ 346
210
+ ],
211
+ "min": [
212
+ 0
213
+ ],
214
+ "mean": [
215
+ 173.0
216
+ ],
217
+ "std": null,
218
+ "sum": [
219
+ 60031
220
+ ],
221
+ "square_sum": [
222
+ 13867161
223
+ ],
224
+ "count": 347
225
+ },
226
+ "task_index": {
227
+ "max": [
228
+ 0
229
+ ],
230
+ "min": [
231
+ 0
232
+ ],
233
+ "mean": [
234
+ 0.0
235
+ ],
236
+ "std": null,
237
+ "sum": [
238
+ 0
239
+ ],
240
+ "square_sum": [
241
+ 0
242
+ ],
243
+ "count": 347
244
+ },
245
+ "observation.images.main": {
246
+ "max": [
247
+ [
248
+ [
249
+ 1.0
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 1.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ]
262
+ ],
263
+ "min": [
264
+ [
265
+ [
266
+ 0.007843137718737125
267
+ ]
268
+ ],
269
+ [
270
+ [
271
+ 0.01568627543747425
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.0
277
+ ]
278
+ ]
279
+ ],
280
+ "mean": [
281
+ [
282
+ [
283
+ 0.5356953950528338
284
+ ]
285
+ ],
286
+ [
287
+ [
288
+ 0.41622804845100864
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.32431496157540823
294
+ ]
295
+ ]
296
+ ],
297
+ "std": [
298
+ [
299
+ [
300
+ 0.24748442537121587
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.19983905474601568
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.16966050504568483
311
+ ]
312
+ ]
313
+ ],
314
+ "sum": [
315
+ 14276068.0,
316
+ 11092311.0,
317
+ 8642864.0
318
+ ],
319
+ "square_sum": [
320
+ 9279873.0,
321
+ 5681200.0,
322
+ 3570110.5
323
+ ],
324
+ "count": 26649600
325
+ }
326
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Draw a bike "}
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 sha256:96213732635928f9e93f4993139aeb3b51a9b30236c3f0bbd0b36f257a3046e3
3
+ size 820033