Hugging Face's logo

Datasets:
romanovvv1987
/
example_dataset

Tasks:
Robotics
Tags:
phosphobot
so100
phospho-dk1
Dataset card Files
xet
Community
romanovvv1987 commited on
Commit
d9fa077
·
verified ·
1 Parent(s): 68a272e

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. README.md +15 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/info.json +157 -0
  5. meta/stats.json +496 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk1
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # example_dataset
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 sha256:9a9a6b33e845b854b17c4bdef523f61c337afaf0ab245c253a52fe813d0fa801
3
+ size 6139
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":19}
meta/info.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100, so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 19,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ 24
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6",
29
+ "motor_1_secondary",
30
+ "motor_2_secondary",
31
+ "motor_3_secondary",
32
+ "motor_4_secondary",
33
+ "motor_5_secondary",
34
+ "motor_6_secondary",
35
+ "motor_1_secondary",
36
+ "motor_2_secondary",
37
+ "motor_3_secondary",
38
+ "motor_4_secondary",
39
+ "motor_5_secondary",
40
+ "motor_6_secondary",
41
+ "motor_1_secondary",
42
+ "motor_2_secondary",
43
+ "motor_3_secondary",
44
+ "motor_4_secondary",
45
+ "motor_5_secondary",
46
+ "motor_6_secondary"
47
+ ]
48
+ },
49
+ "observation.state": {
50
+ "dtype": "float32",
51
+ "shape": [
52
+ 24
53
+ ],
54
+ "names": [
55
+ "motor_1",
56
+ "motor_2",
57
+ "motor_3",
58
+ "motor_4",
59
+ "motor_5",
60
+ "motor_6",
61
+ "motor_1_secondary",
62
+ "motor_2_secondary",
63
+ "motor_3_secondary",
64
+ "motor_4_secondary",
65
+ "motor_5_secondary",
66
+ "motor_6_secondary",
67
+ "motor_1_secondary",
68
+ "motor_2_secondary",
69
+ "motor_3_secondary",
70
+ "motor_4_secondary",
71
+ "motor_5_secondary",
72
+ "motor_6_secondary",
73
+ "motor_1_secondary",
74
+ "motor_2_secondary",
75
+ "motor_3_secondary",
76
+ "motor_4_secondary",
77
+ "motor_5_secondary",
78
+ "motor_6_secondary"
79
+ ]
80
+ },
81
+ "timestamp": {
82
+ "dtype": "float32",
83
+ "shape": [
84
+ 1
85
+ ],
86
+ "names": null
87
+ },
88
+ "episode_index": {
89
+ "dtype": "int64",
90
+ "shape": [
91
+ 1
92
+ ],
93
+ "names": null
94
+ },
95
+ "frame_index": {
96
+ "dtype": "int64",
97
+ "shape": [
98
+ 1
99
+ ],
100
+ "names": null
101
+ },
102
+ "task_index": {
103
+ "dtype": "int64",
104
+ "shape": [
105
+ 1
106
+ ],
107
+ "names": null
108
+ },
109
+ "index": {
110
+ "dtype": "int64",
111
+ "shape": [
112
+ 1
113
+ ],
114
+ "names": null
115
+ },
116
+ "observation.images.main": {
117
+ "dtype": "video",
118
+ "shape": [
119
+ 240,
120
+ 320,
121
+ 3
122
+ ],
123
+ "names": [
124
+ "height",
125
+ "width",
126
+ "channel"
127
+ ],
128
+ "info": {
129
+ "video.fps": 30,
130
+ "video.codec": "mp4v",
131
+ "video.pix_fmt": "yuv420p",
132
+ "video.is_depth_map": false,
133
+ "has_audio": false
134
+ }
135
+ },
136
+ "observation.images.secondary_0": {
137
+ "dtype": "video",
138
+ "shape": [
139
+ 240,
140
+ 320,
141
+ 3
142
+ ],
143
+ "names": [
144
+ "height",
145
+ "width",
146
+ "channel"
147
+ ],
148
+ "info": {
149
+ "video.fps": 30,
150
+ "video.codec": "mp4v",
151
+ "video.pix_fmt": "yuv420p",
152
+ "video.is_depth_map": false,
153
+ "has_audio": false
154
+ }
155
+ }
156
+ }
157
+ }
meta/stats.json ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ -0.007671776931843207,
5
+ 0.02148097540916098,
6
+ 0.06904599238658886,
7
+ 0.015343553863686413,
8
+ 0.0030687107727372827,
9
+ 2.1036012347114075,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.5692458483427659,
17
+ 2.772580183168135,
18
+ -0.1779852248187624,
19
+ 2.686656281531491,
20
+ -1.7553025620057257,
21
+ -0.7257500977523673,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0
28
+ ],
29
+ "min": [
30
+ -0.007671776931843207,
31
+ 0.02148097540916098,
32
+ 0.06904599238658886,
33
+ 0.015343553863686413,
34
+ 0.0030687107727372827,
35
+ 2.1036012347114075,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.5692458483427659,
43
+ 2.772580183168135,
44
+ -0.1963974894551861,
45
+ 2.59766366912211,
46
+ -1.7783178928012553,
47
+ -0.7288188085251046,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0
54
+ ],
55
+ "mean": [
56
+ -0.007671776931843207,
57
+ 0.021480975409160982,
58
+ 0.06904599238658886,
59
+ 0.015343553863686413,
60
+ 0.0030687107727372814,
61
+ 2.1036012347114075,
62
+ 0.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 0.5692458483427659,
69
+ 2.7725801831681363,
70
+ -0.18945251244320171,
71
+ 2.646440019299302,
72
+ -1.7658007830703524,
73
+ -0.7265576532188773,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "std": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0,
88
+ 0.0,
89
+ 0.0,
90
+ 0.0,
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.0,
103
+ 0.0,
104
+ 0.0,
105
+ 0.0
106
+ ],
107
+ "sum": [
108
+ -0.14576376170502092,
109
+ 0.40813853277405865,
110
+ 1.3118738553451883,
111
+ 0.29152752341004184,
112
+ 0.05830550468200835,
113
+ 39.96842345951674,
114
+ 0.0,
115
+ 0.0,
116
+ 0.0,
117
+ 0.0,
118
+ 0.0,
119
+ 0.0,
120
+ 10.815671118512553,
121
+ 52.67902348019459,
122
+ -3.5995977364208325,
123
+ 50.28236036668674,
124
+ -33.550214878336696,
125
+ -13.804595411158669,
126
+ 0.0,
127
+ 0.0,
128
+ 0.0,
129
+ 0.0,
130
+ 0.0,
131
+ 0.0
132
+ ],
133
+ "square_sum": [
134
+ 0.00111826706454727,
135
+ 0.008767213786050594,
136
+ 0.09057963222832885,
137
+ 0.00447306825818908,
138
+ 0.00017892273032756313,
139
+ 84.07762493890782,
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 6.156775881254031,
147
+ 146.05681656983634,
148
+ 0.6825148803131995,
149
+ 133.08441952084024,
150
+ 59.244164649662686,
151
+ 10.029850305754143,
152
+ 0.0,
153
+ 0.0,
154
+ 0.0,
155
+ 0.0,
156
+ 0.0,
157
+ 0.0
158
+ ],
159
+ "count": 19
160
+ },
161
+ "action": {
162
+ "max": [
163
+ -0.007671776931843207,
164
+ 0.02148097540916098,
165
+ 0.06904599238658886,
166
+ 0.015343553863686413,
167
+ 0.0030687107727372827,
168
+ 2.1036012347114075,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 0.0,
174
+ 0.0,
175
+ 0.5692458483427659,
176
+ 2.772580183168135,
177
+ -0.1779852248187624,
178
+ 2.686656281531491,
179
+ -1.7553025620057257,
180
+ -0.7257500977523673,
181
+ 0.0,
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ 0.0
187
+ ],
188
+ "min": [
189
+ -0.007671776931843207,
190
+ 0.02148097540916098,
191
+ 0.06904599238658886,
192
+ 0.015343553863686413,
193
+ 0.0030687107727372827,
194
+ 2.1036012347114075,
195
+ 0.0,
196
+ 0.0,
197
+ 0.0,
198
+ 0.0,
199
+ 0.0,
200
+ 0.0,
201
+ 0.5692458483427659,
202
+ 2.772580183168135,
203
+ -0.1963974894551861,
204
+ 2.59766366912211,
205
+ -1.7783178928012553,
206
+ -0.7288188085251046,
207
+ 0.0,
208
+ 0.0,
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 0.0
213
+ ],
214
+ "mean": [
215
+ -0.007671776931843207,
216
+ 0.021480975409160982,
217
+ 0.06904599238658886,
218
+ 0.015343553863686413,
219
+ 0.0030687107727372814,
220
+ 2.1036012347114075,
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.5692458483427659,
228
+ 2.7725801831681363,
229
+ -0.18945251244320171,
230
+ 2.646440019299302,
231
+ -1.7658007830703524,
232
+ -0.7265576532188773,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "std": [
241
+ 0.0,
242
+ 0.0,
243
+ 0.0,
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 0.0,
251
+ 0.0,
252
+ 0.0,
253
+ 0.0,
254
+ 0.0,
255
+ 0.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 0.0,
263
+ 0.0,
264
+ 0.0
265
+ ],
266
+ "sum": [
267
+ -0.14576376170502092,
268
+ 0.40813853277405865,
269
+ 1.3118738553451883,
270
+ 0.29152752341004184,
271
+ 0.05830550468200835,
272
+ 39.96842345951674,
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 0.0,
277
+ 0.0,
278
+ 0.0,
279
+ 10.815671118512553,
280
+ 52.67902348019459,
281
+ -3.5995977364208325,
282
+ 50.28236036668674,
283
+ -33.550214878336696,
284
+ -13.804595411158669,
285
+ 0.0,
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 0.0,
290
+ 0.0
291
+ ],
292
+ "square_sum": [
293
+ 0.00111826706454727,
294
+ 0.008767213786050594,
295
+ 0.09057963222832885,
296
+ 0.00447306825818908,
297
+ 0.00017892273032756313,
298
+ 84.07762493890782,
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 0.0,
303
+ 0.0,
304
+ 0.0,
305
+ 6.156775881254031,
306
+ 146.05681656983634,
307
+ 0.6825148803131995,
308
+ 133.08441952084024,
309
+ 59.244164649662686,
310
+ 10.029850305754143,
311
+ 0.0,
312
+ 0.0,
313
+ 0.0,
314
+ 0.0,
315
+ 0.0,
316
+ 0.0
317
+ ],
318
+ "count": 19
319
+ },
320
+ "timestamp": {
321
+ "max": [
322
+ 0.992197958054021
323
+ ],
324
+ "min": [
325
+ 0.006574917118996382
326
+ ],
327
+ "mean": [
328
+ 0.517116934244864
329
+ ],
330
+ "std": null,
331
+ "sum": [
332
+ 9.825221750652418
333
+ ],
334
+ "square_sum": [
335
+ 6.690782587443751
336
+ ],
337
+ "count": 19
338
+ },
339
+ "frame_index": {
340
+ "max": [
341
+ 18
342
+ ],
343
+ "min": [
344
+ 0
345
+ ],
346
+ "mean": [
347
+ 9.0
348
+ ],
349
+ "std": null,
350
+ "sum": [
351
+ 171
352
+ ],
353
+ "square_sum": [
354
+ 2109
355
+ ],
356
+ "count": 19
357
+ },
358
+ "episode_index": {
359
+ "max": [
360
+ 0
361
+ ],
362
+ "min": [
363
+ 0
364
+ ],
365
+ "mean": [
366
+ 0.0
367
+ ],
368
+ "std": null,
369
+ "sum": [
370
+ 0
371
+ ],
372
+ "square_sum": [
373
+ 0
374
+ ],
375
+ "count": 19
376
+ },
377
+ "index": {
378
+ "max": [
379
+ 18
380
+ ],
381
+ "min": [
382
+ 0
383
+ ],
384
+ "mean": [
385
+ 9.0
386
+ ],
387
+ "std": null,
388
+ "sum": [
389
+ 171
390
+ ],
391
+ "square_sum": [
392
+ 2109
393
+ ],
394
+ "count": 19
395
+ },
396
+ "task_index": {
397
+ "max": [
398
+ 0
399
+ ],
400
+ "min": [
401
+ 0
402
+ ],
403
+ "mean": [
404
+ 0.0
405
+ ],
406
+ "std": null,
407
+ "sum": [
408
+ 0
409
+ ],
410
+ "square_sum": [
411
+ 0
412
+ ],
413
+ "count": 19
414
+ },
415
+ "observation.images.main": {
416
+ "max": [
417
+ [
418
+ [
419
+ 0.9607843160629272
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.9372549057006836
425
+ ]
426
+ ],
427
+ [
428
+ [
429
+ 0.929411768913269
430
+ ]
431
+ ]
432
+ ],
433
+ "min": [
434
+ [
435
+ [
436
+ 0.01568627543747425
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.01568627543747425
442
+ ]
443
+ ],
444
+ [
445
+ [
446
+ 0.003921568859368563
447
+ ]
448
+ ]
449
+ ],
450
+ "mean": [
451
+ [
452
+ [
453
+ 0.8111168791118422
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.7448255037006579
459
+ ]
460
+ ],
461
+ [
462
+ [
463
+ 0.6800190172697368
464
+ ]
465
+ ]
466
+ ],
467
+ "std": [
468
+ [
469
+ [
470
+ 0.11051718705106925
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.13246307702732885
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.13283343997016864
481
+ ]
482
+ ]
483
+ ],
484
+ "sum": [
485
+ 1183581.75,
486
+ 1086849.375,
487
+ 992283.75
488
+ ],
489
+ "square_sum": [
490
+ 977845.875,
491
+ 835116.9375,
492
+ 700519.0
493
+ ],
494
+ "count": 1459200
495
+ }
496
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"None"}
videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0dbaad2c6096e978b0963cbb6914f3d32e20e6106b56807e565fd54245c760ad
3
+ size 16872