Hugging Face's logo

Datasets:
djflix
/
a

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Tags:
phosphobot
so100
phospho-dk
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
Community
1
djflix commited on
Commit
7c577e6
·
verified ·
1 Parent(s): 52af44f

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. README.md +15 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/info.json +101 -0
  5. meta/stats.json +290 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # a
12
+
13
+ **This dataset was generated using a [phospho starter pack](https://robots.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 and RLDS.
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcc5954f10ade0d4f3a51e6c4afa00cd46ac513fbdb97b5e3ece56bfe5d4d416
3
+ size 8130
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["b"],"length":109}
meta/info.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 109,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
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
+ }
101
+ }
meta/stats.json ADDED
@@ -0,0 +1,290 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ -0.006137421545474565,
5
+ 1.8719135713697423,
6
+ 0.032221463113741466,
7
+ 0.444963062046906,
8
+ 0.01074048770458049,
9
+ 1.0126745550033034
10
+ ],
11
+ "min": [
12
+ -0.44956612820601194,
13
+ 0.02454968618189826,
14
+ -0.44342870666053735,
15
+ -0.006137421545474565,
16
+ -0.006137421545474565,
17
+ 1.009605844230566
18
+ ],
19
+ "mean": [
20
+ -0.2803084294381539,
21
+ 1.2306234031422525,
22
+ -0.2678224365233923,
23
+ 0.2719750497250323,
24
+ 0.0065456445381781424,
25
+ 1.010774206588992
26
+ ],
27
+ "std": [
28
+ 0.2070371426261751,
29
+ 0.8421513128159884,
30
+ 0.21468277391399868,
31
+ 0.21312768482638014,
32
+ 0.005458076595381761,
33
+ 0.0007169427082155338
34
+ ],
35
+ "sum": [
36
+ -30.55361880875878,
37
+ 134.1379509425055,
38
+ -29.192645581049764,
39
+ 29.645280420028516,
40
+ 0.7134752546614175,
41
+ 110.17438851820012
42
+ ],
43
+ "square_sum": [
44
+ 13.23665415045763,
45
+ 242.3781545502632,
46
+ 12.842113050360178,
47
+ 13.01392831065014,
48
+ 0.00791733081699467,
49
+ 111.3614861676574
50
+ ],
51
+ "count": 109
52
+ },
53
+ "action": {
54
+ "max": [
55
+ -0.006137421545474565,
56
+ 1.8719135713697423,
57
+ 0.032221463113741466,
58
+ 0.444963062046906,
59
+ 0.01074048770458049,
60
+ 1.0126745550033034
61
+ ],
62
+ "min": [
63
+ -0.44956612820601194,
64
+ 0.02454968618189826,
65
+ -0.44342870666053735,
66
+ -0.006137421545474565,
67
+ -0.006137421545474565,
68
+ 1.009605844230566
69
+ ],
70
+ "mean": [
71
+ -0.2803084294381539,
72
+ 1.2306234031422525,
73
+ -0.2678224365233923,
74
+ 0.2719750497250323,
75
+ 0.0065456445381781424,
76
+ 1.010774206588992
77
+ ],
78
+ "std": [
79
+ 0.2070371426261751,
80
+ 0.8421513128159884,
81
+ 0.21468277391399868,
82
+ 0.21312768482638014,
83
+ 0.005458076595381761,
84
+ 0.0007169427082155338
85
+ ],
86
+ "sum": [
87
+ -30.55361880875878,
88
+ 134.1379509425055,
89
+ -29.192645581049764,
90
+ 29.645280420028516,
91
+ 0.7134752546614175,
92
+ 110.17438851820012
93
+ ],
94
+ "square_sum": [
95
+ 13.23665415045763,
96
+ 242.3781545502632,
97
+ 12.842113050360178,
98
+ 13.01392831065014,
99
+ 0.00791733081699467,
100
+ 111.3614861676574
101
+ ],
102
+ "count": 109
103
+ },
104
+ "timestamp": {
105
+ "max": [
106
+ 7.298545541998465
107
+ ],
108
+ "min": [
109
+ 0.004561125009786338
110
+ ],
111
+ "mean": [
112
+ 3.6510280286179
113
+ ],
114
+ "std": [
115
+ 2.1285350527308675
116
+ ],
117
+ "sum": [
118
+ 397.96205511935113
119
+ ],
120
+ "square_sum": [
121
+ 1946.8127178738685
122
+ ],
123
+ "count": 109
124
+ },
125
+ "frame_index": {
126
+ "max": [
127
+ 108
128
+ ],
129
+ "min": [
130
+ 0
131
+ ],
132
+ "mean": [
133
+ 54.0
134
+ ],
135
+ "std": [
136
+ 31.464265445104548
137
+ ],
138
+ "sum": [
139
+ 5886
140
+ ],
141
+ "square_sum": [
142
+ 425754
143
+ ],
144
+ "count": 109
145
+ },
146
+ "episode_index": {
147
+ "max": [
148
+ 0
149
+ ],
150
+ "min": [
151
+ 0
152
+ ],
153
+ "mean": [
154
+ 0.0
155
+ ],
156
+ "std": [
157
+ 0.0
158
+ ],
159
+ "sum": [
160
+ 0
161
+ ],
162
+ "square_sum": [
163
+ 0
164
+ ],
165
+ "count": 109
166
+ },
167
+ "index": {
168
+ "max": [
169
+ 108
170
+ ],
171
+ "min": [
172
+ 0
173
+ ],
174
+ "mean": [
175
+ 54.0
176
+ ],
177
+ "std": [
178
+ 31.464265445104548
179
+ ],
180
+ "sum": [
181
+ 5886
182
+ ],
183
+ "square_sum": [
184
+ 425754
185
+ ],
186
+ "count": 109
187
+ },
188
+ "task_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "sum": [
202
+ 0
203
+ ],
204
+ "square_sum": [
205
+ 0
206
+ ],
207
+ "count": 109
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "min": [
228
+ [
229
+ [
230
+ 0.019607843831181526
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0235294122248888
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0235294122248888
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.14302250573394495
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.16976723767201835
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.3179959862385321
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.1240797672210869
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.12294986834664708
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.13763243190908642
275
+ ]
276
+ ]
277
+ ],
278
+ "sum": [
279
+ 1197270.0,
280
+ 1421155.5,
281
+ 2662008.0
282
+ ],
283
+ "square_sum": [
284
+ 300117.78125,
285
+ 367810.3125,
286
+ 1005080.875
287
+ ],
288
+ "count": 8371200
289
+ }
290
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"b"}
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:ad8388f81371b8575eaa9d99258ab90e45b067e0aaf599bc2cd89c427cdbde9d
3
+ size 14180