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Browse files- README.md +17 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +121 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.secondary_0/episode_000000.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 sha256:2baa225d0cd0123e71a1cd87c9cc34c388a718c8ec86b35da6b1e263ff302d45
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size 5373
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["None"],"length":23}
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{"episode_index":1,"tasks":["None"],"length":14}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"max": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "min": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "mean": [0.004603066159105925, 0.00920613231821185, 0.03989324004558469, 0.015343553863686412, 0.004603066159105925, -0.00920613231821185], "std": [0.0, 0.0, 0.0, 1.6463612699567982e-10, 0.0, 0.0], "count": [23]}, "action": {"max": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "min": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "mean": [0.004603066159105925, 0.00920613231821185, 0.03989324004558469, 0.015343553863686412, 0.004603066159105925, -0.00920613231821185], "std": [0.0, 0.0, 0.0, 1.6463612699567982e-10, 0.0, 0.0], "count": [23]}, "timestamp": {"max": [0.7461447699461132], "min": [0.0010440109763294458], "mean": [0.37881072056378523], "std": [0.22240670051959724], "count": [23]}, "frame_index": {"max": [22], "min": [0], "mean": [11.0], "std": [6.6332495807108], "count": [23]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [23]}, "index": {"max": [22], "min": [0], "mean": [11.0], "std": [6.6332495807108], "count": [23]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [23]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4724059998989105]], [[0.47734665870666504]], [[0.48589012026786804]]], "std": [[[0.23823800683021545]], [[0.24686911702156067]], [[0.267978698015213]]], "count": [1766400]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.003921568859368563]], [[0.0]]], "mean": [[[0.333417683839798]], [[0.37174177169799805]], [[0.3685295283794403]]], "std": [[[0.17800264060497284]], [[0.18181879818439484]], [[0.18279163539409637]]], "count": [1766400]}}}
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{"episode_index": 1, "stats": {"observation.state": {"max": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "min": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "mean": [0.004603066159105925, 0.00920613231821185, 0.039893240045584685, 0.015343553863686412, 0.004603066159105925, -0.00920613231821185], "std": [0.0, 0.0, 0.0, 3.681375715146283e-10, 0.0, 0.0], "count": [14]}, "action": {"max": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "min": [0.004603066159105924, 0.009206132318211848, 0.03989324004558467, 0.015343553863686413, 0.004603066159105924, -0.009206132318211848], "mean": [0.004603066159105925, 0.00920613231821185, 0.039893240045584685, 0.015343553863686412, 0.004603066159105925, -0.00920613231821185], "std": [0.0, 0.0, 0.0, 3.681375715146283e-10, 0.0, 0.0], "count": [14]}, "timestamp": {"max": [0.45841234596446157], "min": [0.0006439640419557691], "mean": [0.2323045847920834], "std": [0.14225783253368302], "count": [14]}, "frame_index": {"max": [13], "min": [0], "mean": [6.5], "std": [4.031128874149275], "count": [14]}, "episode_index": {"max": [1], "min": [1], "mean": [1.0], "std": [0.0], "count": [14]}, "index": {"max": [13], "min": [0], "mean": [6.5], "std": [4.031128874149275], "count": [14]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [14]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.003921568859368563]], [[0.0]], [[0.0]]], "mean": [[[0.47216516733169556]], [[0.4770805537700653]], [[0.4856196939945221]]], "std": [[[0.23805639147758484]], [[0.24667754769325256]], [[0.2677793502807617]]], "count": [1075200]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3332148790359497]], [[0.37153664231300354]], [[0.36831268668174744]]], "std": [[[0.17809803783893585]], [[0.1819639354944229]], [[0.18293221294879913]]], "count": [1075200]}}}
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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": 37,
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"total_tasks": 1,
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"total_videos": 4,
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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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6
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],
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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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]
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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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],
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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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]
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},
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"timestamp": {
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"dtype": "float32",
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"observation.images.main": {
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"dtype": "video",
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"shape": [
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"names": [
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"width",
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"channel"
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"info": {
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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},
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}
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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:c820d14f0fe3308eab05adf647bccf4679c44932b09c61bb8b828638d888b4c0
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size 14625
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videos/chunk-000/observation.images.secondary_0/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 16327
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