LegrandFrederic commited on
Commit
8aac104
·
verified ·
1 Parent(s): 16589a7

Upload folder using huggingface_hub

Browse files
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
+ # Light_dataset_deimos
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 sha256:5df63bce71bde8c57760e8a41a1915d78efbda9523eba2c56ef667208e8e5751
3
+ size 16169
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:090e3cb74d72de32b98fd6f91e357e04f6ef5940ee64d777b5ed7d71cc6bd762
3
+ size 17106
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c3e5a1fb6eb1422c7c4efac4b51a42ec3eb694af42505bc0c5b32811f6f559a
3
+ size 19804
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96b1ec935592d9faedb0d36ec8424c9c903b81fb16a4f97fd50dbe6f6ad27ef1
3
+ size 19737
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80395c3485547cc6529175517cdc4ddf2bd2ef376ce46f5a4950d74887378ec7
3
+ size 19151
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9e34d213930a311250636bfe63bd91aaffdc697bbc9aa141dfe2a433006a8db
3
+ size 18828
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:643bbe8bc4112f802a98fce8307ebfdcf1bc5499c0405b3e236c4596db6991b1
3
+ size 14364
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2280f6cd96c6bf02da961b80e85f65c9afce7213eda00364a46e19d40d198451
3
+ size 16555
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5be0ee8ccead4aeb090cbff6448385575e160772d7efe6b1477a244b0c5cde36
3
+ size 16223
data/chunk-000/episode_000009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:16b26e5beb64b027784203a5780a7016002685282fe912898f0e27257e8d9856
3
+ size 16349
data/chunk-000/episode_000010.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34922539713d5fc25ca4402672d88b5d63e562febf0f1f691a8993ac88ddf9e3
3
+ size 14925
data/chunk-000/episode_000011.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aea53c315b795908008cc96657b6738ce672ba89655d5de25bdf6aecd2f838f8
3
+ size 14646
data/chunk-000/episode_000012.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:200805d916363e58cdc87d25a739ba92fca9aabc6356d95fe5968e945b5aea8d
3
+ size 17103
data/chunk-000/episode_000013.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad0c49e72fd2e485b53d1eaf436a5b9fcd9a7e8bec653d6857d6066b4daedd79
3
+ size 14536
data/chunk-000/episode_000014.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc89738321e2f7cbcedcc637fdf535c17ec5e539499e987ad4c3346b300f381b
3
+ size 16389
data/chunk-000/episode_000015.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e79b280ee1bcfb14fb61cd34d67ec59558d7ded0d9b42b169b5fa085db0fe50b
3
+ size 16232
data/chunk-000/episode_000016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7adc1736a32153133c3357b6fa1859cbbf7fbc97c2ede58e563be5f639253896
3
+ size 18622
data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:214e1310b288c05c449a390cd489e1344f49d8a73bee272698e8634e2f7b8c46
3
+ size 19426
data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e2ea579644692cc11a803a4272e664d7a4c98e4c53138f5d4dcaeca4cd857bf
3
+ size 17064
data/chunk-000/episode_000019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a2473695bd3b35460b4fb3a849de50411dc45f06729dc7054f4ae4a2f311d13
3
+ size 19040
data/chunk-000/episode_000020.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5048d750c42b440ba046f2e753b33195a683878a1b12d3e294ad3f0fb2922e13
3
+ size 16823
data/chunk-000/episode_000021.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ecc23bb279b4457350cba52797f39e45fc19662f4fd22a10f97a6462016757d
3
+ size 17683
data/chunk-000/episode_000022.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72e05fe770459f43b17312cae4344c650af84d828a812a2e54656c73b88bcc2f
3
+ size 17518
data/chunk-000/episode_000023.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:909e11317963eb5ada0a82c9ce2caa44e35fbf39e2e675381e9a112751c3fab7
3
+ size 16277
data/chunk-000/episode_000024.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3db56bd29b04ee50f7892a7f8ecf663323792bb05cdd48b0786b280fe6449772
3
+ size 17179
data/chunk-000/episode_000025.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f8dfef6d80c979aa81e35e7ab448559a13ed0acf3e0fa20c2a33105f3dda1ed
3
+ size 16359
data/chunk-000/episode_000026.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3955c0f6c8cfeebe6184f8ca818741eb9022ff0a5d17628b318b211cef376ad3
3
+ size 15243
data/chunk-000/episode_000027.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6fb5df6f7ce0d0f35d3a486b8dec6475939f81c7393cb2e3b49e68cce9b3f42
3
+ size 15069
data/chunk-000/episode_000028.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06350eee98206fdebb4f218c0232d0c19df4ac899b46a63ede2d47c9d34a8bfe
3
+ size 12702
data/chunk-000/episode_000029.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89e6029ffdbf24baf211439013910d316a9dc19d7d39c46221598142575fe0dc
3
+ size 12834
meta/episodes.jsonl ADDED
@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index":0,"tasks":["pick the the white box and place it into the red open box\n"],"length":235}
2
+ {"episode_index":1,"tasks":["pick the the white box and place it into the red open box\n"],"length":270}
3
+ {"episode_index":2,"tasks":["pick the the white box and place it into the red open box\n"],"length":372}
4
+ {"episode_index":3,"tasks":["pick the the white box and place it into the red open box\n"],"length":293}
5
+ {"episode_index":4,"tasks":["pick the the white box and place it into the red open box\n"],"length":329}
6
+ {"episode_index":5,"tasks":["pick the the white box and place it into the red open box\n"],"length":319}
7
+ {"episode_index":6,"tasks":["pick the the white box and place it into the red open box\n"],"length":194}
8
+ {"episode_index":7,"tasks":["pick the the white box and place it into the red open box\n"],"length":233}
9
+ {"episode_index":8,"tasks":["pick the the white box and place it into the red open box\n"],"length":227}
10
+ {"episode_index":9,"tasks":["pick the the white box and place it into the red open box\n"],"length":243}
11
+ {"episode_index":10,"tasks":["pick the the white box and place it into the red open box\n"],"length":200}
12
+ {"episode_index":11,"tasks":["pick the the white box and place it into the red open box\n"],"length":202}
13
+ {"episode_index":12,"tasks":["pick the the white box and place it into the red open box\n"],"length":244}
14
+ {"episode_index":13,"tasks":["pick the the white box and place it into the red open box\n"],"length":204}
15
+ {"episode_index":14,"tasks":["pick the the white box and place it into the red open box\n"],"length":244}
16
+ {"episode_index":15,"tasks":["pick the the white box and place it into the red open box\n"],"length":238}
17
+ {"episode_index":16,"tasks":["pick the the white box and place it into the red open box\n"],"length":288}
18
+ {"episode_index":17,"tasks":["pick the the white box and place it into the red open box\n"],"length":308}
19
+ {"episode_index":18,"tasks":["pick the the white box and place it into the red open box\n"],"length":227}
20
+ {"episode_index":19,"tasks":["pick the the white box and place it into the red open box\n"],"length":290}
21
+ {"episode_index":20,"tasks":["pick the the white box and place it into the red open box\n"],"length":247}
22
+ {"episode_index":21,"tasks":["pick the the white box and place it into the red open box\n"],"length":275}
23
+ {"episode_index":22,"tasks":["pick the the white box and place it into the red open box\n"],"length":316}
24
+ {"episode_index":23,"tasks":["pick the the white box and place it into the red open box\n"],"length":244}
25
+ {"episode_index":24,"tasks":["pick the the white box and place it into the red open box\n"],"length":260}
26
+ {"episode_index":25,"tasks":["pick the the white box and place it into the red open box\n"],"length":248}
27
+ {"episode_index":26,"tasks":["pick the the white box and place it into the red open box\n"],"length":206}
28
+ {"episode_index":27,"tasks":["pick the the white box and place it into the red open box\n"],"length":227}
29
+ {"episode_index":28,"tasks":["pick the the white box and place it into the red open box\n"],"length":149}
30
+ {"episode_index":29,"tasks":["pick the the white box and place it into the red open box\n"],"length":155}
meta/info.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 30,
5
+ "total_frames": 7487,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:30"
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.environment_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 4
84
+ ],
85
+ "names": [
86
+ "x1",
87
+ "y1",
88
+ "x2",
89
+ "y2"
90
+ ]
91
+ }
92
+ }
93
+ }
meta/stats.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -0.06135474145412445,
5
+ -0.6152151823043823,
6
+ 0.33823779225349426,
7
+ 0.7667301297187805,
8
+ 0.014929172582924366,
9
+ 0.9964002370834351
10
+ ],
11
+ "std": [
12
+ 0.18258319795131683,
13
+ 0.6448997259140015,
14
+ 0.4517633616924286,
15
+ 0.3808203637599945,
16
+ 0.19392284750938416,
17
+ 0.4044342339038849
18
+ ],
19
+ "max": [
20
+ 0.4587722718715668,
21
+ 0.5247495174407959,
22
+ 1.4898591041564941,
23
+ 1.1262168884277344,
24
+ 0.5001998543739319,
25
+ 1.8427608013153076
26
+ ],
27
+ "min": [
28
+ -0.6428949236869812,
29
+ -1.7951958179473877,
30
+ -0.7456967234611511,
31
+ -0.9098727703094482,
32
+ -0.5585053563117981,
33
+ 0.10893923044204712
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ -0.06139019504189491,
39
+ -0.6159468293190002,
40
+ 0.33805525302886963,
41
+ 0.7683706283569336,
42
+ 0.014982663094997406,
43
+ 0.9964008331298828
44
+ ],
45
+ "std": [
46
+ 0.1826002150774002,
47
+ 0.6458560824394226,
48
+ 0.4514605700969696,
49
+ 0.3802475035190582,
50
+ 0.1938827484846115,
51
+ 0.40442246198654175
52
+ ],
53
+ "max": [
54
+ 0.4587722718715668,
55
+ 0.5247495174407959,
56
+ 1.4898591041564941,
57
+ 1.1262168884277344,
58
+ 0.5001998543739319,
59
+ 1.8427608013153076
60
+ ],
61
+ "min": [
62
+ -0.6428949236869812,
63
+ -1.7951958179473877,
64
+ -0.7456967234611511,
65
+ -0.9098727703094482,
66
+ -0.5585053563117981,
67
+ 0.10893923044204712
68
+ ]
69
+ },
70
+ "timestamp": {
71
+ "mean": [
72
+ 4.305841445922852
73
+ ],
74
+ "std": [
75
+ 2.672414541244507
76
+ ],
77
+ "max": [
78
+ 12.366666793823242
79
+ ],
80
+ "min": [
81
+ 0.0
82
+ ]
83
+ },
84
+ "task_index": {
85
+ "mean": [
86
+ 0.0
87
+ ],
88
+ "std": [
89
+ 0.0
90
+ ],
91
+ "max": [
92
+ 0.0
93
+ ],
94
+ "min": [
95
+ 0.0
96
+ ]
97
+ },
98
+ "episode_index": {
99
+ "mean": [
100
+ 13.850810050964355
101
+ ],
102
+ "std": [
103
+ 8.563703536987305
104
+ ],
105
+ "max": [
106
+ 29.0
107
+ ],
108
+ "min": [
109
+ 0.0
110
+ ]
111
+ },
112
+ "frame_index": {
113
+ "mean": [
114
+ 129.1752471923828
115
+ ],
116
+ "std": [
117
+ 80.17243194580078
118
+ ],
119
+ "max": [
120
+ 371.0
121
+ ],
122
+ "min": [
123
+ 0.0
124
+ ]
125
+ },
126
+ "index": {
127
+ "mean": [
128
+ 3743.0
129
+ ],
130
+ "std": [
131
+ 2161.310546875
132
+ ],
133
+ "max": [
134
+ 7486.0
135
+ ],
136
+ "min": [
137
+ 0.0
138
+ ]
139
+ },
140
+ "observation.environment_state": {
141
+ "mean": [
142
+ 0.5085923671722412,
143
+ 0.4802115857601166,
144
+ 0.553392231464386,
145
+ 0.608281672000885
146
+ ],
147
+ "std": [
148
+ 0.039771709591150284,
149
+ 0.04061455279588699,
150
+ 0.03906218707561493,
151
+ 0.04525832086801529
152
+ ],
153
+ "max": [
154
+ 0.5771484375,
155
+ 0.552734375,
156
+ 0.6220703125,
157
+ 0.6806640625
158
+ ],
159
+ "min": [
160
+ 0.435546875,
161
+ 0.400390625,
162
+ 0.484375,
163
+ 0.5166015625
164
+ ]
165
+ }
166
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"pick the the white box and place it into the red open box\n"}