Upload folder using huggingface_hub
Browse files- README.md +17 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +101 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.main/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.main/episode_000002.mp4 +3 -0
README.md
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
---
|
| 3 |
+
tags:
|
| 4 |
+
- phosphobot
|
| 5 |
+
- so100
|
| 6 |
+
- phospho-dk
|
| 7 |
+
task_categories:
|
| 8 |
+
- robotics
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
# example_dataset
|
| 12 |
+
|
| 13 |
+
**This dataset was generated using [phosphobot](https://docs.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.
|
| 16 |
+
|
| 17 |
+
To get started in robotics, [get your own phospho starter pack.](https://robots.phospho.ai).
|
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:00a67deceaefd55fdaaf86c0d65e7ebd6df8e5b33fa203c44f3ba2754d32dba9
|
| 3 |
+
size 39740
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90b0961a2c5abfd58af4127d1f8f34e15a2ef5dfa909812c84f4842cd563169e
|
| 3 |
+
size 9902
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:697e91f814ac7b04e9764f9d90d1d5f13f60116a87b41cabf8081a404a2904c6
|
| 3 |
+
size 99496
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index":0,"tasks":["None"],"length":1107}
|
| 2 |
+
{"episode_index":1,"tasks":["None"],"length":297}
|
| 3 |
+
{"episode_index":2,"tasks":["None"],"length":3328}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state": {"max": [0.9560871261182927, 0.6889255684795199, 0.7165439654341555, 0.7687120485706893, 0.029667508350127318, 2.114341722415988], "min": [-0.26207738998211166, -0.37670688483347664, -0.4143988214540124, -0.7243026548648155, -0.0005880483234799647, -0.00013533050984121004], "mean": [0.5342833037678749, 0.3132484385672097, 0.33314614260286374, -0.19978628472267435, 0.014028258109737091, 1.3054281478766099], "std": [0.5502335684796407, 0.2751751347684413, 0.2698623452872107, 0.464447247555636, 0.006717411411864157, 0.8175894639583693], "count": [1107]}, "action": {"max": [0.9560871261182927, 0.6889255684795199, 0.7165439654341555, 0.7687120485706893, 0.029667508350127318, 2.114341722415988], "min": [-0.26207738998211166, -0.37670688483347664, -0.4143988214540124, -0.7243026548648155, -0.0005880483234799647, -0.00013533050984121004], "mean": [0.5342833037678749, 0.3132484385672097, 0.33314614260286374, -0.19978628472267435, 0.014028258109737091, 1.3054281478766099], "std": [0.5502335684796407, 0.2751751347684413, 0.2698623452872107, 0.464447247555636, 0.006717411411864157, 0.8175894639583693], "count": [1107]}, "timestamp": {"max": [47.21030870010145], "min": [0.00345359998755157], "mean": [24.03688697285518], "std": [13.571926918112325], "count": [1107]}, "frame_index": {"max": [1106], "min": [0], "mean": [553.0], "std": [319.56324361019165], "count": [1107]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [1107]}, "index": {"max": [1106], "min": [0], "mean": [553.0], "std": [319.56324361019165], "count": [1107]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [1107]}, "observation.images.main": {"max": [[[1.0]], [[0.9960784316062927]], [[1.0]]], "min": [[[0.16862745583057404]], [[0.16078431904315948]], [[0.16862745583057404]]], "mean": [[[0.21038083732128143]], [[0.20257732272148132]], [[0.21038083732128143]]], "std": [[[0.06658782064914703]], [[0.06661094725131989]], [[0.06658782064914703]]], "count": [85017600]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"observation.state": {"max": [-3.5e-323, 3.5e-322, 1.15e-321, 6.334e-321, 2.9175e-320, -5.6946e-320], "min": [-1.4e-322, -1.9e-322, -9.73e-322, -4.03e-321, 2.1734e-320, -7.1966e-320], "mean": [-1e-322, 1.43e-322, -1.14e-322, 1.047e-321, 2.51e-320, -6.4876e-320], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [297]}, "action": {"max": [-3.5e-323, 3.5e-322, 1.15e-321, 6.334e-321, 2.9175e-320, -5.6946e-320], "min": [-1.4e-322, -1.9e-322, -9.73e-322, -4.03e-321, 2.1734e-320, -7.1966e-320], "mean": [-1e-322, 1.43e-322, -1.14e-322, 1.047e-321, 2.51e-320, -6.4876e-320], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [297]}, "timestamp": {"max": [12.140167300007306], "min": [0.0017677999567240477], "mean": [5.962797661233139], "std": [3.63963423199357], "count": [297]}, "frame_index": {"max": [296], "min": [0], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "episode_index": {"max": [1], "min": [1], "mean": [1.0], "std": [0.0], "count": [297]}, "index": {"max": [296], "min": [0], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [297]}, "observation.images.main": {"max": [[[1.0]], [[0.9960784316062927]], [[1.0]]], "min": [[[0.16862745583057404]], [[0.16078431904315948]], [[0.16862745583057404]]], "mean": [[[0.21038180589675903]], [[0.2025752067565918]], [[0.21038180589675903]]], "std": [[[0.06658269464969635]], [[0.0666160061955452]], [[0.06658269464969635]]], "count": [22809600]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"observation.state": {"max": [1.2474309291177055, 1.193728490594803, 0.9252162979802907, 1.1093389443445276, 0.222481531023453, 2.1204791439614623], "min": [-0.889926124093812, -0.6444292622748293, -0.18105393559149968, -1.0234150427078839, -0.02087388017373356, -6.0941713169937185e-06], "mean": [-0.25632860026092996, 0.35524909780863323, 0.21982272226231359, 0.049550125083572295, 0.030576676115968888, 1.141232672036202], "std": [0.7217932872382913, 0.39742437143450543, 0.2750755346373551, 0.5454906077885282, 0.06565648595500102, 1.0085690141579158], "count": [3328]}, "action": {"max": [1.2474309291177055, 1.193728490594803, 0.9252162979802907, 1.1093389443445276, 0.222481531023453, 2.1204791439614623], "min": [-0.889926124093812, -0.6444292622748293, -0.18105393559149968, -1.0234150427078839, -0.02087388017373356, -6.0941713169937185e-06], "mean": [-0.25632860026092996, 0.35524909780863323, 0.21982272226231359, 0.049550125083572295, 0.030576676115968888, 1.141232672036202], "std": [0.7217932872382913, 0.39742437143450543, 0.2750755346373551, 0.5454906077885282, 0.06565648595500102, 1.0085690141579158], "count": [3328]}, "timestamp": {"max": [130.0391987000039], "min": [0.0035146000009262934], "mean": [65.73243760913276], "std": [37.38722639249611], "count": [3328]}, "frame_index": {"max": [3327], "min": [0], "mean": [1663.5], "std": [960.710804560873], "count": [3328]}, "episode_index": {"max": [2], "min": [2], "mean": [2.0], "std": [0.0], "count": [3328]}, "index": {"max": [3327], "min": [0], "mean": [1663.5], "std": [960.710804560873], "count": [3328]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [3328]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4821086823940277]], [[0.4579465687274933]], [[0.4584043025970459]]], "std": [[[0.23988643288612366]], [[0.25049349665641785]], [[0.27936258912086487]]], "count": [255590400]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_type": "so-100",
|
| 3 |
+
"codebase_version": "v2.1",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 4732,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 3,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:3"
|
| 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": 30,
|
| 94 |
+
"video.codec": "avc1",
|
| 95 |
+
"video.pix_fmt": "yuv420p",
|
| 96 |
+
"video.is_depth_map": false,
|
| 97 |
+
"has_audio": false
|
| 98 |
+
}
|
| 99 |
+
}
|
| 100 |
+
}
|
| 101 |
+
}
|
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 sha256:9e75f3b45916ac68f541f5e8a8162b084f1e9df2540bbbf04043acfebaac13b0
|
| 3 |
+
size 76492
|
videos/chunk-000/observation.images.main/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:db1dfa408deac2e0a47a23bdb23c6fe2a237ce3bba8dbf0e8f2fa15223182c0a
|
| 3 |
+
size 22227
|
videos/chunk-000/observation.images.main/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5d40160b7ccc6b970d6553d5f8c6a4efa0881a5521148bdc451abb6773c6bf71
|
| 3 |
+
size 2502257
|