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README.md

@@ -1,27 +1,15 @@
-# Stacking Blocks Dataset
 
-Dieses Dataset enthält Trainingsdaten für das Stapeln von Bauklötzen mit dem Roboterarm.
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
 
-## Aufgabe
+# stacking_blocks
 
-**Task Instruction:** "Stapele die Blöcke auf einem Stapel"
+**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
 
-## Struktur
-
-- `meta/info.json`: Dataset-Metadaten
-- `data/train.jsonl`: Trainingsdaten
-- `data/validation.jsonl`: Validierungsdaten  
-- `images/`: Bilddateien
-
-## Objekte
-
-Das Dataset enthält verschiedene Bauklötze:
-- Roter Bauklotz
-- Blauer Bauklotz
-- Grüner Bauklotz
-- Gelber Bauklotz
-- Stapel von Bauklötzen
-
-## Verwendung
-
-Das Dataset kann für das Training von BB-ACT Modellen verwendet werden, um das Stapeln von Bauklötzen zu lernen.
+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

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+size 36541

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Stapele die Blöcke auf einem Stapel"],"length":487}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.748765428547897, 1.2919272353223965, 1.4000000000000008, 1.6700000000000008, 0.36517658195573643, 1.0000000000000009], "min": [-0.7564372054797397, -1.570800000000001, -1.600000000000001, 0.41120724354679566, -1.508271344800374, -9.603384831491694e-16], "mean": [-0.010365563082449436, -0.30263354850301877, 0.21809471867946076, 1.1345924433115209, -0.8118535851323819, 0.272408272992543], "std": [0.3501931882195182, 0.8905885880985808, 0.9097191370327079, 0.39390374360851027, 0.5495864953592917, 0.32827739505662845], "count": [487]}, "action": {"max": [0.748765428547897, 1.2919272353223965, 1.4000000000000008, 1.6700000000000008, 0.36517658195573643, 1.0000000000000009], "min": [-0.7564372054797397, -1.570800000000001, -1.600000000000001, 0.41120724354679566, -1.508271344800374, -9.603384831491694e-16], "mean": [-0.010365563082449436, -0.30263354850301877, 0.21809471867946076, 1.1345924433115209, -0.8118535851323819, 0.272408272992543], "std": [0.3501931882195182, 0.8905885880985808, 0.9097191370327079, 0.39390374360851027, 0.5495864953592917, 0.32827739505662845], "count": [487]}, "timestamp": {"max": [45.72606584299956], "min": [0.09901858600005653], "mean": [22.618579117704005], "std": [13.638840111242722], "count": [487]}, "frame_index": {"max": [486], "min": [0], "mean": [243.0], "std": [140.5844941663198], "count": [487]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [487]}, "index": {"max": [486], "min": [0], "mean": [243.0], "std": [140.5844941663198], "count": [487]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [487]}, "observation.images.main": {"max": [[[0.0]], [[0.0]], [[0.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [37401600]}}}

meta/info.json

@@ -1,28 +1,81 @@
 {
-  "dataset_info": {
-    "dataset_name": "stacking_blocks",
-    "description": "Robot arm dataset for training BB-ACT model to stack blocks",
-    "license": "apache-2.0",
-    "tags": [
-      "robotics",
-      "computer-vision",
-      "object-detection",
-      "manipulation"
-    ],
-    "task_categories": [
-      "object-detection",
-      "manipulation"
-    ],
-    "language": "de",
-    "task_instruction": "Stapele die Bl\u00f6cke auf einem Stapel"
-  },
-  "configs": [
-    {
-      "name": "default",
-      "data_files": {
-        "train": "data/train.jsonl",
-        "validation": "data/validation.jsonl"
-      }
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 487,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "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"
+            ]
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+        "index": {
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+            "names": null
+        }
     }
-  ]
 }

meta/tasks.jsonl

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+{"task_index":0,"task":"Stapele die Blöcke auf einem Stapel"}