Upload folder using huggingface_hub

README.md

@@ -0,0 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset
+
+**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
+
+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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23fc24ee4dc4265c8b62216c6b0d39adce2e45b6ebe40ec60abb3a8d7829b35
+size 20327

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["None"],"length":404}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.7702464039570575, 0.046030661591059265, 1.4000000000000008, 0.8807199917756006, 1.1829880028902213, 1.500000000000001], "min": [-0.17798522481876247, -1.543561518686854, 0.06751163700022028, -1.670000000000001, -2.935221854123213, -0.01227484309094914], "mean": [-0.07029930247941496, -1.1804206161546125, 0.9966206100363945, -1.0239157657935236, -1.085902045608681, 0.5043124462749776], "std": [0.15255784654572005, 0.6260954869002276, 0.5400157143434712, 0.8232398440856712, 1.4328340472169312, 0.7142926561639267], "count": [404]}, "action": {"max": [0.7702464039570575, 0.046030661591059265, 1.4000000000000008, 0.8807199917756006, 1.1829880028902213, 1.500000000000001], "min": [-0.17798522481876247, -1.543561518686854, 0.06751163700022028, -1.670000000000001, -2.935221854123213, -0.01227484309094914], "mean": [-0.07029930247941496, -1.1804206161546125, 0.9966206100363945, -1.0239157657935236, -1.085902045608681, 0.5043124462749776], "std": [0.15255784654572005, 0.6260954869002276, 0.5400157143434712, 0.8232398440856712, 1.4328340472169312, 0.7142926561639267], "count": [404]}, "timestamp": {"max": [40.5225529690033], "min": [0.05864106600347441], "mean": [20.294488415538844], "std": [11.7025284619189], "count": [404]}, "frame_index": {"max": [403], "min": [0], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [404]}, "index": {"max": [403], "min": [0], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [404]}, "observation.images.main": {"max": [[[0.11372549086809158]], [[0.11372549086809158]], [[0.11372549086809158]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0011875656200572848]], [[0.0011875656200572848]], [[0.0011875656200572848]]], "std": [[[0.003411143086850643]], [[0.003411143086850643]], [[0.003411143086850643]]], "count": [31027200]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.1103576272726059]], [[0.1103576272726059]], [[0.1103576272726059]]], "std": [[[0.18988348543643951]], [[0.18988348543643951]], [[0.18988348543643951]]], "count": [31027200]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.454581081867218]], [[0.4392774701118469]], [[0.43093574047088623]]], "std": [[[0.2524242699146271]], [[0.2538095712661743]], [[0.2524346113204956]]], "count": [31027200]}, "observation.images.secondary_2": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.6056104898452759]], [[0.561390221118927]], [[0.5280824303627014]]], "std": [[[0.20720061659812927]], [[0.23487775027751923]], [[0.2615989148616791]]], "count": [31027200]}, "observation.images.secondary_3": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.010436571203172207]], [[0.1783653050661087]], [[0.6950889825820923]]], "std": [[[0.08792354166507721]], [[0.3356466591358185]], [[0.21621668338775635]]], "count": [31027200]}}}

meta/info.json

@@ -0,0 +1,181 @@
+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 404,
+    "total_tasks": 1,
+    "total_videos": 5,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_1": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_2": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_3": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index":0,"task":"None"}

videos/chunk-000/observation.images.main/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60eb37d1f2efa9a6c18a4c505e922612a833dae5d3062d6371ee2566d2594b7d
+size 235578

videos/chunk-000/observation.images.secondary_0/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6870c8e79fbac0bb00c6006459849bda2643f716f27e3f96e3443bce433a8a8a
+size 496131

videos/chunk-000/observation.images.secondary_1/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b908c22ecdb531d4120dd3d44ace635c10fd6d3a61c633ed09c573c399ea6a6
+size 782212

videos/chunk-000/observation.images.secondary_2/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97a7af8467512ffc96acd5615b640f67012cf73ab4eb397a7264f788af60d4b3
+size 388158

videos/chunk-000/observation.images.secondary_3/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eced6b257d47ce16b06c58c8961da65db7269ad9e2e3b9e051dcbeb4251334f
+size 1195066