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Browse files- README.md +15 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
- data/chunk-000/episode_000011.parquet +3 -0
- data/chunk-000/episode_000012.parquet +3 -0
- data/chunk-000/episode_000013.parquet +3 -0
- data/chunk-000/episode_000014.parquet +3 -0
- data/chunk-000/episode_000015.parquet +3 -0
- meta/episodes.jsonl +16 -0
- meta/info.json +109 -0
- meta/stats.json +214 -0
- meta/tasks.jsonl +1 -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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# example_dataset_v2
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**This dataset was generated using a [phospho starter pack](https://robots.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 and RLDS.
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data/chunk-000/episode_000000.parquet
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["Pick up doll and put in the basket"],"length":97}
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{"episode_index":1,"tasks":["Pick up doll and put in the basket"],"length":119}
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{"episode_index":2,"tasks":["Pick up doll and put in the basket"],"length":112}
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{"episode_index":3,"tasks":["Pick up doll and put in the basket"],"length":108}
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{"episode_index":4,"tasks":["Pick up doll and put in the basket"],"length":99}
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{"episode_index":8,"tasks":["Pick up doll and put in the basket"],"length":78}
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{"episode_index":10,"tasks":["Pick up doll and put in the basket"],"length":77}
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{"episode_index":11,"tasks":["Pick up doll and put in the basket"],"length":50}
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{"episode_index":12,"tasks":["Pick up doll and put in the basket"],"length":82}
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{"episode_index":13,"tasks":["Pick up doll and put in the basket"],"length":83}
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{"episode_index":14,"tasks":["Pick up doll and put in the basket"],"length":74}
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{"episode_index":15,"tasks":["Pick up doll and put in the basket"],"length":99}
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meta/info.json
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{
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"robot_type": "so-100, agilex-piper",
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| 3 |
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"codebase_version": "v2.0",
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| 4 |
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"total_episodes": 16,
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| 5 |
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"total_frames": 1404,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"total_videos": 0,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:16"
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},
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| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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"dtype": "float32",
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"shape": [
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| 20 |
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14
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+
],
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| 22 |
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"names": [
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| 23 |
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"motor_1",
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| 24 |
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"motor_2",
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| 25 |
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"motor_3",
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| 26 |
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"motor_4",
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| 27 |
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"motor_5",
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"motor_6",
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"motor_1_secondary",
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| 30 |
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"motor_2_secondary",
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| 31 |
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"motor_3_secondary",
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| 32 |
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"motor_4_secondary",
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| 33 |
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"motor_5_secondary",
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"motor_6_secondary",
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"motor_7_secondary",
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"motor_8_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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14
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],
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"names": [
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"motor_1",
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| 46 |
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"motor_2",
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| 47 |
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"motor_3",
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| 48 |
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"motor_4",
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| 49 |
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"motor_5",
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| 50 |
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"motor_6",
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| 51 |
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"motor_1_secondary",
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| 52 |
+
"motor_2_secondary",
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| 53 |
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"motor_3_secondary",
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| 54 |
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"motor_4_secondary",
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| 55 |
+
"motor_5_secondary",
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| 56 |
+
"motor_6_secondary",
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| 57 |
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"motor_7_secondary",
|
| 58 |
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"motor_8_secondary"
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| 59 |
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]
|
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},
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"timestamp": {
|
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"dtype": "float32",
|
| 63 |
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"shape": [
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| 64 |
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1
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| 65 |
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],
|
| 66 |
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"names": null
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},
|
| 68 |
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"episode_index": {
|
| 69 |
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"dtype": "int64",
|
| 70 |
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"shape": [
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| 71 |
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1
|
| 72 |
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],
|
| 73 |
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"names": null
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},
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| 75 |
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"frame_index": {
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| 76 |
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"dtype": "int64",
|
| 77 |
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"shape": [
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| 78 |
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1
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| 79 |
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],
|
| 80 |
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"names": null
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| 81 |
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},
|
| 82 |
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"task_index": {
|
| 83 |
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"dtype": "int64",
|
| 84 |
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"shape": [
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| 85 |
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1
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| 86 |
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],
|
| 87 |
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"names": null
|
| 88 |
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},
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| 89 |
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"index": {
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| 90 |
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"dtype": "int64",
|
| 91 |
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"shape": [
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| 92 |
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1
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| 93 |
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],
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| 94 |
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"names": null
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| 95 |
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},
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| 96 |
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"observation.environment_state": {
|
| 97 |
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"dtype": "float32",
|
| 98 |
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"shape": [
|
| 99 |
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4
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| 100 |
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],
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| 101 |
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"names": [
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| 102 |
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"x1",
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| 103 |
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"y1",
|
| 104 |
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"x2",
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| 105 |
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"y2"
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| 106 |
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]
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| 107 |
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}
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}
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}
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meta/stats.json
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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index":0,"task":"Pick up doll and put in the basket"}
|