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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 +133 -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
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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# TestCameras
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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 sha256:5800e92444b0078e0c2706567976562eabc4de67fdf9ed2e87fd42469f9d5c14
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size 5830
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["Test with Dual ARM SO-101"],"length":20}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"max": [0.006137421545474565, -1.1461634736173751, 1.5435615186868532, 0.21787846486434706, -0.9221475872075534, 0.013809198477317772, 0.004603066159105924, -1.7737148266421494, 1.608004444914336, 1.2336217306403876, -0.006137421545474565, 0.01227484309094913], "min": [-0.004603066159105924, -1.1461634736173751, 1.5435615186868532, 0.18258829097786833, -1.3548358061635104, 0.013809198477317772, 0.004603066159105924, -1.7737148266421494, 1.608004444914336, 1.2213468875494384, -0.006137421545474565, 0.01227484309094913], "mean": [-0.002685121926145121, -1.1461634736173747, 1.5435615186868537, 0.18435279967219234, -1.11655041466046, 0.013809198477317769, 0.004603066159105925, -1.773714826642149, 1.6080044449143363, 1.2317805041767447, -0.006137421545474563, 0.012274843090949126], "std": [0.0020513935586267337, 3.332000937312528e-08, 0.0, 0.007691315083555402, 0.0899989358796308, 2.3283064365386963e-10, 0.0, 2.1073424255447017e-08, 0.0, 0.004382995670459119, 1.6463612699567982e-10, 3.2927225399135965e-10], "count": [20]}, "action": {"max": [0.006137421545474565, -1.1461634736173751, 1.5435615186868532, 0.21787846486434706, -0.9221475872075534, 0.013809198477317772, 0.004603066159105924, -1.7737148266421494, 1.608004444914336, 1.2336217306403876, -0.006137421545474565, 0.01227484309094913], "min": [-0.004603066159105924, -1.1461634736173751, 1.5435615186868532, 0.18258829097786833, -1.3548358061635104, 0.013809198477317772, 0.004603066159105924, -1.7737148266421494, 1.608004444914336, 1.2213468875494384, -0.006137421545474565, 0.01227484309094913], "mean": [-0.002685121926145121, -1.1461634736173747, 1.5435615186868537, 0.18435279967219234, -1.11655041466046, 0.013809198477317769, 0.004603066159105925, -1.773714826642149, 1.6080044449143363, 1.2317805041767447, -0.006137421545474563, 0.012274843090949126], "std": [0.0020513935586267337, 3.332000937312528e-08, 0.0, 0.007691315083555402, 0.0899989358796308, 2.3283064365386963e-10, 0.0, 2.1073424255447017e-08, 0.0, 0.004382995670459119, 1.6463612699567982e-10, 3.2927225399135965e-10], "count": [20]}, "timestamp": {"max": [10.624020431999725], "min": [0.029938828000013018], "mean": [5.048822113849792], "std": [3.133511158226013], "count": [20]}, "frame_index": {"max": [19], "min": [0], "mean": [9.5], "std": [5.766281297335398], "count": [20]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [20]}, "index": {"max": [19], "min": [0], "mean": [9.5], "std": [5.766281297335398], "count": [20]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [20]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.38774222135543823]], [[0.38377273082733154]], [[0.3974362313747406]]], "std": [[[0.22191718220710754]], [[0.2203817069530487]], [[0.21137799322605133]]], "count": [41472000]}, "observation.images.secondary_0": {"max": [[[0.9686274528503418]], [[0.9843137264251709]], [[0.9764705896377563]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.35301297903060913]], [[0.35539665818214417]], [[0.3788701295852661]]], "std": [[[0.1843617558479309]], [[0.18256519734859467]], [[0.167948916554451]]], "count": [41472000]}}}
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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": 20,
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"total_tasks": 1,
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"total_videos": 2,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 60,
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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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"dtype": "float32",
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"shape": [
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12
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],
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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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"motor_6_secondary"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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12
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],
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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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"motor_6_secondary"
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]
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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},
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"observation.images.main": {
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1920,
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"names": [
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"height",
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"width",
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"channel"
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"info": {
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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},
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}
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meta/tasks.jsonl
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{"task_index":0,"task":"Test with Dual ARM SO-101"}
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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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oid sha256:531948056e84817c68783a076c69ba4a2c0901f39183f17e509f8ef7b55ece83
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size 977573
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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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oid sha256:0b8ad39bb19fb3458b7e0895f8136c4c424b48ea227757edd8d89933349ac112
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size 646387
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