Hafnium49 commited on
Commit
0996efc
·
verified ·
1 Parent(s): d47d514

Upload folder using huggingface_hub

Browse files
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
+ # paper_return
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 sha256:269d0523e0995aa60e94a263baa9e62224008b8287005a2044f29e7fc8ecfd28
3
+ size 15264
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":247}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"max": [0.2715809033872495, 0.6781850807749394, -0.01074048770458049, 1.6908596357782428, -1.4468971293456288, 0.02148097540916098], "min": [-0.10126745550033033, 0.013809198477317772, -0.3605735157966307, 0.03682452927284739, -1.6310197757098657, 0.02148097540916098], "mean": [-0.012523321696029094, 0.4014668822276615, -0.2520504850279661, 0.8991136205166433, -1.5019040805451989, 0.021480975409160948], "std": [0.10800767721669823, 0.27251612513044465, 0.12235554862616183, 0.5576428951676636, 0.07233459249178611, 1.6463612699567982e-09], "count": [247]}, "action": {"max": [0.2715809033872495, 0.6781850807749394, -0.01074048770458049, 1.6908596357782428, -1.4468971293456288, 0.02148097540916098], "min": [-0.10126745550033033, 0.013809198477317772, -0.3605735157966307, 0.03682452927284739, -1.6310197757098657, 0.02148097540916098], "mean": [-0.012523321696029094, 0.4014668822276615, -0.2520504850279661, 0.8991136205166433, -1.5019040805451989, 0.021480975409160948], "std": [0.10800767721669823, 0.27251612513044465, 0.12235554862616183, 0.5576428951676636, 0.07233459249178611, 1.6463612699567982e-09], "count": [247]}, "timestamp": {"max": [17.61373649999996], "min": [0.006837725999957911], "mean": [8.732520076226683], "std": [4.995663187125935], "count": [247]}, "frame_index": {"max": [246], "min": [0], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [247]}, "index": {"max": [246], "min": [0], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [247]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.30312636494636536]], [[0.30616194009780884]], [[0.2883371412754059]]], "std": [[[0.255586177110672]], [[0.2462708055973053]], [[0.23942501842975616]]], "count": [18969600]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3772558271884918]], [[0.4164859354496002]], [[0.4214392602443695]]], "std": [[[0.20765767991542816]], [[0.1909942924976349]], [[0.19439417123794556]]], "count": [18969600]}}}
meta/info.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.1",
4
+ "total_episodes": 1,
5
+ "total_frames": 247,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
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
+ 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
+ "observation.images.secondary_0": {
101
+ "dtype": "video",
102
+ "shape": [
103
+ 240,
104
+ 320,
105
+ 3
106
+ ],
107
+ "names": [
108
+ "height",
109
+ "width",
110
+ "channel"
111
+ ],
112
+ "info": {
113
+ "video.fps": 30,
114
+ "video.codec": "avc1",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ }
120
+ }
121
+ }
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 sha256:622675d670cda71c387b64574b2918d5784c135c680096453e35522e6940f83c
3
+ size 372511
videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d500bcd9cbf67ce205013658d98301618ef7190ca79f186aeaf99cae26d221cc
3
+ size 321012