Upload folder using huggingface_hub

README.md

@@ -0,0 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# first
+
+**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
+
+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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec126401c22f86955c8b59d5925de3451e9dabcd1915767b8b6b7c04d10c6b86
+size 15148

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af25e991bcf474e1ec1e455249759fe6bc460005e2e2f4b79b665212fe29898b
+size 13380

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a514bc585ea6701cbb5956fd1c6954a5153b770ae4263391a00cbdb750f617c
+size 12760

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c656919e3a2aa5cedc3da3f8f45918e3851aa8a071248de8acb7b8e6493d0fd
+size 13622

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aed711cdf2a7bef79778df99a5da2377a7982eb6a11f312519b1d4050fbe449
+size 11129

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d72a888d58c90a1c2b62f76ed79bf90436f07b352ecd4598f34fd3b5af77f490
+size 17691

data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c4c2f68f625942e7dc74fad5513e313137adb6c06543076280dd005e35688f
+size 12353

data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e24be3be39b1a95dcd6b96e0a4af18eeda1ad33346ebb23800d1da878fa40d
+size 24764

data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b87998f5352624854a5143cbb9f7164c462fc757b497c00cdfa619c37bc98e95
+size 15233

data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a74e63f308ddb41358e6e4adbbd7a278e4dfb1a19078113c4c735c8ed27ad6
+size 15760

data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde8079068048d6189b033af93ede5e4d3cf08a5fa22bf71e436e38a3894abe8
+size 14766

data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e85a5285ae54c33b9f31452294bc4d788e2057c77ed142049fcaa6e8746c654
+size 13503

data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f7e00a8f3c5ac98e897e55afb990e357edc70153509e4be5bea4a1e988fe24
+size 16356

data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d490f4ee2d103a97274f486279d7c4f34e22cb60d6bb97a47483bec820263f88
+size 11854

data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be3aef2c4baad3486083eb0a6283041db8a5bab63bbb08f51f0b55463492e0df
+size 15118

data/chunk-000/episode_000015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49472121fa100f06c011c037cefd4fc3a799a4b5f141e449f732aba42a9d2559
+size 12043

data/chunk-000/episode_000016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2804bcc48190bfd248e7b75987986f5d8fe47f54ba26f72e41c5865ce462d205
+size 12067

data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1041ee32f70001523e6fa9d1d61e78aa2f4700cf45cdcc3b1ae7368ef6abc61a
+size 12521

data/chunk-000/episode_000018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b126d8586bab7efa992c3ae369d658918083ad0831a0fefad1d939e88455f2
+size 10823

data/chunk-000/episode_000019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd68f079cb11374e7242ef9247662e79c23e8304b78e45329a0da38510cbd12
+size 14508

data/chunk-000/episode_000020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab9314898b0f4febae4a5573d0e781cebd5fd8384f67b3426c71919a16f20bb
+size 12136

data/chunk-000/episode_000021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebe70f3b4e162bce4b3bbe9b8a05844a19fddb025f7b36e61c0c144940cb2ab
+size 13176

data/chunk-000/episode_000022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8baaeb318dfa5709571ad61d8e3a940fac6249147ffd6549c38cf93395f11251
+size 11239

data/chunk-000/episode_000023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c57be03de550e28246c4fd26f1e61147e51846d8145287a9036ddd0fa0f5e826
+size 12748

data/chunk-000/episode_000024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d81b56d82cb84c5d1cdbb7ae110e2a1bd593819a4523b44fd359611fa446424
+size 12336

data/chunk-000/episode_000025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e41bfc789955ff6bd218250ef61369ce0c77975da8361f4d0823b2cce7754ef
+size 12558

data/chunk-000/episode_000026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824df12cca3b0022254aa2dfa22b21e2fed94b82db414a0d87b0855cf7cdb5f1
+size 12275

data/chunk-000/episode_000027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b438add08324249647796e99fd9d133e8c0996f75ec735d4dd38570befe0efbf
+size 14096

data/chunk-000/episode_000028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480269638bfb26a1b526b039c7f283e622884768150f856821e704473441c600
+size 13102

data/chunk-000/episode_000029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80da6011c404b347c40feffaf81ca343f1dc8eb1a6119f9c396de44b442b2aad
+size 13597

data/chunk-000/episode_000030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b33c3a5755f4949c74811c92ac1ef4242bf33b3e229292d652d937e839d9fa
+size 12557

data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38cf4e40eabf0ba8ae4aca63a35eae7450c84b8e49ba3f88b1d8f31b52dbc1fa
+size 20780

meta/episodes.jsonl

@@ -0,0 +1,32 @@
+{"episode_index":0,"tasks":["pick green cube and put it in the box"],"length":196}
+{"episode_index":1,"tasks":["pick green cube and put it in the box"],"length":148}
+{"episode_index":2,"tasks":["pick green cube and put it in the box"],"length":141}
+{"episode_index":3,"tasks":["pick green cube and put it in the box"],"length":150}
+{"episode_index":4,"tasks":["pick green cube and put it in the box"],"length":102}
+{"episode_index":5,"tasks":["pick green cube and put it in the box"],"length":228}
+{"episode_index":6,"tasks":["pick green cube and put it in the box"],"length":129}
+{"episode_index":7,"tasks":["pick green cube and put it in the box"],"length":418}
+{"episode_index":8,"tasks":["pick green cube and put it in the box"],"length":183}
+{"episode_index":9,"tasks":["pick green cube and put it in the box"],"length":208}
+{"episode_index":10,"tasks":["pick green cube and put it in the box"],"length":171}
+{"episode_index":11,"tasks":["pick green cube and put it in the box"],"length":134}
+{"episode_index":12,"tasks":["pick green cube and put it in the box"],"length":192}
+{"episode_index":13,"tasks":["pick green cube and put it in the box"],"length":114}
+{"episode_index":14,"tasks":["pick green cube and put it in the box"],"length":164}
+{"episode_index":15,"tasks":["pick green cube and put it in the box"],"length":110}
+{"episode_index":16,"tasks":["pick green cube and put it in the box"],"length":118}
+{"episode_index":17,"tasks":["pick green cube and put it in the box"],"length":119}
+{"episode_index":18,"tasks":["pick green cube and put it in the box"],"length":100}
+{"episode_index":19,"tasks":["pick green cube and put it in the box"],"length":181}
+{"episode_index":20,"tasks":["pick green cube and put it in the box"],"length":106}
+{"episode_index":21,"tasks":["pick green cube and put it in the box"],"length":125}
+{"episode_index":22,"tasks":["pick green cube and put it in the box"],"length":99}
+{"episode_index":23,"tasks":["pick green cube and put it in the box"],"length":150}
+{"episode_index":24,"tasks":["pick green cube and put it in the box"],"length":130}
+{"episode_index":25,"tasks":["pick green cube and put it in the box"],"length":119}
+{"episode_index":26,"tasks":["pick green cube and put it in the box"],"length":110}
+{"episode_index":27,"tasks":["pick green cube and put it in the box"],"length":140}
+{"episode_index":28,"tasks":["pick green cube and put it in the box"],"length":118}
+{"episode_index":29,"tasks":["pick green cube and put it in the box"],"length":121}
+{"episode_index":30,"tasks":["pick green cube and put it in the box"],"length":104}
+{"episode_index":31,"tasks":["pick green cube and put it in the box"],"length":280}

meta/info.json

@@ -0,0 +1,113 @@
+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.0",
+    "total_episodes": 32,
+    "total_frames": 4908,
+    "total_tasks": 1,
+    "total_videos": 32,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:32"
+    },
+    "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                "x1",
+                "y1",
+                "x2",
+                "y2"
+            ]
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/stats.json

@@ -0,0 +1,166 @@
+{
+    "action": {
+        "mean": [
+            -0.4979330003261566,
+            0.06565453857183456,
+            -0.2111687809228897,
+            1.3201026916503906,
+            0.9341554045677185,
+            1.4752899408340454
+        ],
+        "std": [
+            0.3629925847053528,
+            0.49176087975502014,
+            0.5962260961532593,
+            0.365313857793808,
+            0.9582114815711975,
+            0.0688675045967102
+        ],
+        "max": [
+            0.31454285979270935,
+            0.9927279353141785,
+            1.399999976158142,
+            1.6699999570846558,
+            2.7035341262817383,
+            1.5
+        ],
+        "min": [
+            -1.198331594467163,
+            -1.5707999467849731,
+            -1.600000023841858,
+            -1.6156761646270752,
+            -0.5937955379486084,
+            1.1016671657562256
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            -0.4972224235534668,
+            0.06500953435897827,
+            -0.21033330261707306,
+            1.3209930658340454,
+            0.9342855215072632,
+            1.4751752614974976
+        ],
+        "std": [
+            0.36383217573165894,
+            0.4910934865474701,
+            0.5946332812309265,
+            0.3631146550178528,
+            0.9594051241874695,
+            0.06898515671491623
+        ],
+        "max": [
+            0.31454285979270935,
+            0.9927279353141785,
+            1.399999976158142,
+            1.6699999570846558,
+            2.7035341262817383,
+            1.5
+        ],
+        "min": [
+            -1.198331594467163,
+            -1.5707999467849731,
+            -1.600000023841858,
+            -1.6156761646270752,
+            -0.5937955379486084,
+            1.1016671657562256
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            2.9710066318511963
+        ],
+        "std": [
+            2.3914756774902344
+        ],
+        "max": [
+            13.899999618530273
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            14.517319679260254
+        ],
+        "std": [
+            9.420748710632324
+        ],
+        "max": [
+            31.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            89.13018798828125
+        ],
+        "std": [
+            71.74427032470703
+        ],
+        "max": [
+            417.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "index": {
+        "mean": [
+            2453.5
+        ],
+        "std": [
+            1416.8175048828125
+        ],
+        "max": [
+            4907.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            0.5374874472618103,
+            0.47207584977149963,
+            0.6520543694496155,
+            0.677981436252594
+        ],
+        "std": [
+            0.23968720436096191,
+            0.25962087512016296,
+            0.23346412181854248,
+            0.23166543245315552
+        ],
+        "max": [
+            0.865234375,
+            0.845703125,
+            0.998046875,
+            0.998046875
+        ],
+        "min": [
+            0.0908203125,
+            0.0,
+            0.2314453125,
+            0.220703125
+        ]
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index":0,"task":"pick green cube and put it in the box"}