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Browse files- README.md +17 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +101 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.main/episode_000001.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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# example_dataset
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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:d67470d6c79d7cd82961b33b519ec99c9bfd16a665958df8a6cf2108600feea4
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size 49221
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:acf3358da7d8dc638f37495ef4bb4ded10348852c5f501a200533d50f553ba53
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size 9800
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["None"],"length":1399}
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{"episode_index":1,"tasks":["None"],"length":177}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"max": [0.06597728161385158, 0.9236819425939221, 1.6494320403462894, 1.4422940631865229, 0.04296195081832196, 1.8442951744151068], "min": [-0.16063825148267447, -1.6448289741871835, -0.466444037456067, -1.193728490594803, -1.1476978290037436, -2.0841862242828947e-05], "mean": [-0.08432369577085741, 0.01202545449526082, 0.37551409133435537, 0.07017888776009301, -0.049168479553829414, 1.3473047029095757], "std": [0.07378124159754222, 0.5553307265015687, 0.48211538347907085, 0.5938100422672797, 0.23474441669189988, 0.7611984882752231], "count": [1399]}, "action": {"max": [0.06597728161385158, 0.9236819425939221, 1.6494320403462894, 1.4422940631865229, 0.04296195081832196, 1.8442951744151068], "min": [-0.16063825148267447, -1.6448289741871835, -0.466444037456067, -1.193728490594803, -1.1476978290037436, -2.0841862242828947e-05], "mean": [-0.08432369577085741, 0.01202545449526082, 0.37551409133435537, 0.07017888776009301, -0.049168479553829414, 1.3473047029095757], "std": [0.07378124159754222, 0.5553307265015687, 0.48211538347907085, 0.5938100422672797, 0.23474441669189988, 0.7611984882752231], "count": [1399]}, "timestamp": {"max": [95.22129300050437], "min": [0.0049935998395085335], "mean": [46.430449249300096], "std": [27.57176000543898], "count": [1399]}, "frame_index": {"max": [1398], "min": [0], "mean": [699.0], "std": [403.85641012617344], "count": [1399]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [1399]}, "index": {"max": [1398], "min": [0], "mean": [699.0], "std": [403.85641012617344], "count": [1399]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [1399]}, "observation.images.main": {"max": [[[1.0]], [[0.8313725590705872]], [[0.8705882430076599]]], "min": [[[0.0784313753247261]], [[0.062745101749897]], [[0.0]]], "mean": [[[0.5534417629241943]], [[0.4998031258583069]], [[0.48163434863090515]]], "std": [[[0.15663433074951172]], [[0.15976130962371826]], [[0.15810994803905487]]], "count": [107443200]}}}
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{"episode_index": 1, "stats": {"observation.state": {"max": [-0.1304202078413345, 0.2792526803190927, 1.6617068834372386, 0.7549028500933715, 0.009206132318211848, 1.8427608190287383], "min": [-0.15190118325049548, -1.8320203313241579, 0.16724473711418192, -0.38512320197852895, 0.0015343553863686413, 1.8412264636423696], "mean": [-0.13822201489066657, -0.6765553699690794, 1.0568587889260195, 0.08887125096639154, 0.0035801625681935053, 1.842093331092297], "std": [0.006546117850521581, 0.5632400160305797, 0.4647840076109087, 0.5506100832688083, 0.0019819630912980115, 0.0007606731011664159], "count": [177]}, "action": {"max": [-0.1304202078413345, 0.2792526803190927, 1.6617068834372386, 0.7549028500933715, 0.009206132318211848, 1.8427608190287383], "min": [-0.15190118325049548, -1.8320203313241579, 0.16724473711418192, -0.38512320197852895, 0.0015343553863686413, 1.8412264636423696], "mean": [-0.13822201489066657, -0.6765553699690794, 1.0568587889260195, 0.08887125096639154, 0.0035801625681935053, 1.842093331092297], "std": [0.006546117850521581, 0.5632400160305797, 0.4647840076109087, 0.5506100832688083, 0.0019819630912980115, 0.0007606731011664159], "count": [177]}, "timestamp": {"max": [8.198732700198889], "min": [0.007079999893903732], "mean": [3.785335133099497], "std": [2.335688279198194], "count": [177]}, "frame_index": {"max": [176], "min": [0], "mean": [88.0], "std": [51.094683350292584], "count": [177]}, "episode_index": {"max": [1], "min": [1], "mean": [1.0], "std": [0.0], "count": [177]}, "index": {"max": [176], "min": [0], "mean": [88.0], "std": [51.094683350292584], "count": [177]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [177]}, "observation.images.main": {"max": [[[1.0]], [[0.9960784316062927]], [[1.0]]], "min": [[[0.529411792755127]], [[0.5215686559677124]], [[0.5372549295425415]]], "mean": [[[0.551562488079071]], [[0.5437304377555847]], [[0.5593636631965637]]], "std": [[[0.02043721079826355]], [[0.02470710314810276]], [[0.02806290052831173]]], "count": [13593600]}}}
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meta/info.json
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{
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"robot_type": "so-100",
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"codebase_version": "v2.1",
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"total_episodes": 2,
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"total_frames": 1576,
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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": "0:2"
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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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"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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"observation.state": {
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"names": [
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"timestamp": {
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}
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}
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meta/tasks.jsonl
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{"task_index":0,"task":"None"}
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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:cf34e5d35bdcd243798777669d97c455bafbcd24918e9cbaa665b2d5e8362129
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size 1623650
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videos/chunk-000/observation.images.main/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 13346
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