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Browse files- README.md +17 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +153 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.secondary_1/episode_000000.mp4 +3 -0
README.md
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---
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tags:
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- phosphobot
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- so100
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- phospho-dk
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task_categories:
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- robotics
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---
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# paper_pick
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**This dataset was generated using [phosphobot](https://docs.phospho.ai).**
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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.
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To get started in robotics, [get your own phospho starter pack.](https://robots.phospho.ai).
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:7a722ae32816ef5ae4c1d396bd2fcc113edf812b462ca9e02b1c5974f29f437e
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size 8240
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["None"],"length":192}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"max": [-0.47718452516064747, -1.7553025620057257, 1.462240683209315, -1.7568369173920944, -1.6463633295735522, 0.030687107727372827, 0.727284453138736, -1.7169436773465097, 1.5052026340276372, -1.6847222142327682, -0.5508335837063423, 0.046030661591059244], "min": [-0.47718452516064747, -1.7553025620057257, 1.462240683209315, -1.7568369173920944, -1.6463633295735522, 0.030687107727372827, 0.727284453138736, -1.7169436773465097, 1.5052026340276372, -1.6847222142327682, -0.5508335837063423, 0.046030661591059244], "mean": [-0.47718452516064813, -1.755302562005733, 1.4622406832093084, -1.756836917392093, -1.6463633295735478, 0.030687107727372907, 0.7272844531387362, -1.7169436773465134, 1.5052026340276317, -1.6847222142327674, -0.55083358370634, 0.04603066159105928], "std": [1.0536712127723509e-08, 0.0, 1.5910086411284374e-07, 5.5755039852469285e-08, 6.664001874625056e-08, 0.0, 3.161013638317052e-08, 0.0, 1.4901161193847656e-07, 9.18569267238524e-08, 6.098563054108955e-08, 2.1841450407278862e-09], "count": [192]}, "action": {"max": [-0.47718452516064747, -1.7553025620057257, 1.462240683209315, -1.7568369173920944, -1.6463633295735522, 0.030687107727372827, 0.727284453138736, -1.7169436773465097, 1.5052026340276372, -1.6847222142327682, -0.5508335837063423, 0.046030661591059244], "min": [-0.47718452516064747, -1.7553025620057257, 1.462240683209315, -1.7568369173920944, -1.6463633295735522, 0.030687107727372827, 0.727284453138736, -1.7169436773465097, 1.5052026340276372, -1.6847222142327682, -0.5508335837063423, 0.046030661591059244], "mean": [-0.47718452516064813, -1.755302562005733, 1.4622406832093084, -1.756836917392093, -1.6463633295735478, 0.030687107727372907, 0.7272844531387362, -1.7169436773465134, 1.5052026340276317, -1.6847222142327674, -0.55083358370634, 0.04603066159105928], "std": [1.0536712127723509e-08, 0.0, 1.5910086411284374e-07, 5.5755039852469285e-08, 6.664001874625056e-08, 0.0, 3.161013638317052e-08, 0.0, 1.4901161193847656e-07, 9.18569267238524e-08, 6.098563054108955e-08, 2.1841450407278862e-09], "count": [192]}, "timestamp": {"max": [6.794269183000324], "min": [0.003949504000047455], "mean": [3.4310641190054127], "std": [1.9459911900830085], "count": [192]}, "frame_index": {"max": [191], "min": [0], "mean": [95.5], "std": [55.42487407894281], "count": [192]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [192]}, "index": {"max": [191], "min": [0], "mean": [95.5], "std": [55.42487407894281], "count": [192]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [192]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[0.9960784316062927]]], "min": [[[0.0]], [[0.003921568859368563]], [[0.0]]], "mean": [[[0.27249205112457275]], [[0.2987457513809204]], [[0.2825198471546173]]], "std": [[[0.23348380625247955]], [[0.23472964763641357]], [[0.22799454629421234]]], "count": [14745600]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.17257159948349]], [[0.1960119605064392]], [[0.173243448138237]]], "std": [[[0.12575288116931915]], [[0.1163816750049591]], [[0.11551328748464584]]], "count": [14745600]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.36381807923316956]], [[0.40120798349380493]], [[0.3986750841140747]]], "std": [[[0.17898429930210114]], [[0.15841877460479736]], [[0.13975857198238373]]], "count": [14745600]}}}
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meta/info.json
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{
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"robot_type": "so-100, so-100",
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"codebase_version": "v2.1",
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"total_episodes": 1,
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"total_frames": 192,
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"total_tasks": 1,
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"total_videos": 3,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"names": [
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6",
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"motor_1_secondary",
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"motor_2_secondary",
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"motor_3_secondary",
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"motor_4_secondary",
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"motor_5_secondary",
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"observation.state": {
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"names": [
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6",
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"motor_1_secondary",
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"motor_2_secondary",
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"motor_3_secondary",
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"motor_4_secondary",
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},
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}
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meta/tasks.jsonl
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{"task_index":0,"task":"None"}
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videos/chunk-000/observation.images.main/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.secondary_0/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.secondary_1/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 92641
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