svitv commited on
Commit
868e92b
·
verified ·
1 Parent(s): 19a6afe

Upload folder using huggingface_hub

Browse files
README.md ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # example_dataset333
12
+
13
+ **This dataset was generated using [phosphobot](https://docs.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.
16
+
17
+ To get started in robotics, [get your own phospho starter pack.](https://robots.phospho.ai).
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d5fde14dfa37f25551560fbf31678fb247c594991c7869314c80989b4e053d9
3
+ size 39615
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up the red cube and put it in the box"],"length":1837}
meta/info.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 1837,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
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
+ 12
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
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "motor_1",
44
+ "motor_2",
45
+ "motor_3",
46
+ "motor_4",
47
+ "motor_5",
48
+ "motor_6",
49
+ "motor_1_secondary",
50
+ "motor_2_secondary",
51
+ "motor_3_secondary",
52
+ "motor_4_secondary",
53
+ "motor_5_secondary",
54
+ "motor_6_secondary"
55
+ ]
56
+ },
57
+ "timestamp": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 1
61
+ ],
62
+ "names": null
63
+ },
64
+ "episode_index": {
65
+ "dtype": "int64",
66
+ "shape": [
67
+ 1
68
+ ],
69
+ "names": null
70
+ },
71
+ "frame_index": {
72
+ "dtype": "int64",
73
+ "shape": [
74
+ 1
75
+ ],
76
+ "names": null
77
+ },
78
+ "task_index": {
79
+ "dtype": "int64",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "observation.images.main": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 240,
96
+ 320,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channel"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30,
106
+ "video.codec": "avc1",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "has_audio": false
110
+ }
111
+ }
112
+ }
113
+ }
meta/stats.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ -0.01074048770458049,
5
+ -1.724615454278353,
6
+ 1.4898590801639506,
7
+ 1.459171972436578,
8
+ 0.023015330795529622,
9
+ 1.7092719004146664,
10
+ 0.24242815104624532,
11
+ 0.49559678979707117,
12
+ 0.2593060602963004,
13
+ 0.0260840415682669,
14
+ 0.006137421545474565,
15
+ 1.5604394279369083
16
+ ],
17
+ "min": [
18
+ -0.01074048770458049,
19
+ -1.724615454278353,
20
+ 1.4898590801639506,
21
+ 1.459171972436578,
22
+ 0.023015330795529622,
23
+ 1.7092719004146664,
24
+ -0.01074048770458049,
25
+ -0.0015343553863686413,
26
+ -0.38512320197852895,
27
+ -0.14422940631865228,
28
+ 0.006137421545474565,
29
+ 0.0
30
+ ],
31
+ "mean": [
32
+ -0.010740487704580824,
33
+ -1.7246154542782832,
34
+ 1.48985908016399,
35
+ 1.4591719724365744,
36
+ 0.023015330795530024,
37
+ 1.709271900414619,
38
+ 0.2288519874915123,
39
+ 0.00899314341046873,
40
+ 0.2436016781653757,
41
+ -0.13680820457238624,
42
+ 0.006137421545474689,
43
+ 1.5261315087779548
44
+ ],
45
+ "std": [
46
+ 0.0,
47
+ 4.519745972187251e-07,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 3.6863436927953305e-07,
52
+ 0.05653896725019119,
53
+ 0.0656445626649481,
54
+ 0.0867979784112945,
55
+ 0.029573366110158813,
56
+ 0.0,
57
+ 0.2204243373293081
58
+ ],
59
+ "sum": [
60
+ -19.730275913314973,
61
+ -3168.1185895092062,
62
+ 2736.8711302612496,
63
+ 2680.498913365987,
64
+ 42.279162671388654,
65
+ 3139.9324810616554,
66
+ 420.4011010219081,
67
+ 16.52040444503106,
68
+ 447.49628278979515,
69
+ -251.31667179947354,
70
+ 11.274443379037004,
71
+ 2803.503581625103
72
+ ],
73
+ "square_sum": [
74
+ 0.21191278585493883,
75
+ 5463.786280454269,
76
+ 4077.5523046581266,
77
+ 3911.3088865303403,
78
+ 0.9730689146400218,
79
+ 5366.998359078095,
80
+ 102.08188241263204,
81
+ 8.06458657829972,
82
+ 122.85059965676186,
83
+ 35.988793424921674,
84
+ 0.06919601170773293,
85
+ 4367.769265040656
86
+ ],
87
+ "count": 1837
88
+ },
89
+ "action": {
90
+ "max": [
91
+ -0.01074048770458049,
92
+ -1.724615454278353,
93
+ 1.4898590801639506,
94
+ 1.459171972436578,
95
+ 0.023015330795529622,
96
+ 1.7092719004146664,
97
+ 0.24242815104624532,
98
+ 0.49559678979707117,
99
+ 0.2593060602963004,
100
+ 0.0260840415682669,
101
+ 0.006137421545474565,
102
+ 1.5604394279369083
103
+ ],
104
+ "min": [
105
+ -0.01074048770458049,
106
+ -1.724615454278353,
107
+ 1.4898590801639506,
108
+ 1.459171972436578,
109
+ 0.023015330795529622,
110
+ 1.7092719004146664,
111
+ -0.01074048770458049,
112
+ -0.0015343553863686413,
113
+ -0.38512320197852895,
114
+ -0.14422940631865228,
115
+ 0.006137421545474565,
116
+ 0.0
117
+ ],
118
+ "mean": [
119
+ -0.010740487704580824,
120
+ -1.7246154542782832,
121
+ 1.48985908016399,
122
+ 1.4591719724365744,
123
+ 0.023015330795530024,
124
+ 1.709271900414619,
125
+ 0.2288519874915123,
126
+ 0.00899314341046873,
127
+ 0.2436016781653757,
128
+ -0.13680820457238624,
129
+ 0.006137421545474689,
130
+ 1.5261315087779548
131
+ ],
132
+ "std": [
133
+ 0.0,
134
+ 4.519745972187251e-07,
135
+ 0.0,
136
+ 0.0,
137
+ 0.0,
138
+ 3.6863436927953305e-07,
139
+ 0.05653896725019119,
140
+ 0.0656445626649481,
141
+ 0.0867979784112945,
142
+ 0.029573366110158813,
143
+ 0.0,
144
+ 0.2204243373293081
145
+ ],
146
+ "sum": [
147
+ -19.730275913314973,
148
+ -3168.1185895092062,
149
+ 2736.8711302612496,
150
+ 2680.498913365987,
151
+ 42.279162671388654,
152
+ 3139.9324810616554,
153
+ 420.4011010219081,
154
+ 16.52040444503106,
155
+ 447.49628278979515,
156
+ -251.31667179947354,
157
+ 11.274443379037004,
158
+ 2803.503581625103
159
+ ],
160
+ "square_sum": [
161
+ 0.21191278585493883,
162
+ 5463.786280454269,
163
+ 4077.5523046581266,
164
+ 3911.3088865303403,
165
+ 0.9730689146400218,
166
+ 5366.998359078095,
167
+ 102.08188241263204,
168
+ 8.06458657829972,
169
+ 122.85059965676186,
170
+ 35.988793424921674,
171
+ 0.06919601170773293,
172
+ 4367.769265040656
173
+ ],
174
+ "count": 1837
175
+ },
176
+ "timestamp": {
177
+ "max": [
178
+ 69.59043359999487
179
+ ],
180
+ "min": [
181
+ 0.0019112000009045005
182
+ ],
183
+ "mean": [
184
+ 36.094218197220286
185
+ ],
186
+ "std": [
187
+ 18.967844970330226
188
+ ],
189
+ "sum": [
190
+ 66305.07882829367
191
+ ],
192
+ "square_sum": [
193
+ 3054144.2681698734
194
+ ],
195
+ "count": 1837
196
+ },
197
+ "frame_index": {
198
+ "max": [
199
+ 1836
200
+ ],
201
+ "min": [
202
+ 0
203
+ ],
204
+ "mean": [
205
+ 918.0
206
+ ],
207
+ "std": [
208
+ 530.2961436782282
209
+ ],
210
+ "sum": [
211
+ 1686366
212
+ ],
213
+ "square_sum": [
214
+ 2064674106
215
+ ],
216
+ "count": 1837
217
+ },
218
+ "episode_index": {
219
+ "max": [
220
+ 0
221
+ ],
222
+ "min": [
223
+ 0
224
+ ],
225
+ "mean": [
226
+ 0.0
227
+ ],
228
+ "std": [
229
+ 0.0
230
+ ],
231
+ "sum": [
232
+ 0
233
+ ],
234
+ "square_sum": [
235
+ 0
236
+ ],
237
+ "count": 1837
238
+ },
239
+ "index": {
240
+ "max": [
241
+ 1836
242
+ ],
243
+ "min": [
244
+ 0
245
+ ],
246
+ "mean": [
247
+ 918.0
248
+ ],
249
+ "std": [
250
+ 530.2961436782282
251
+ ],
252
+ "sum": [
253
+ 1686366
254
+ ],
255
+ "square_sum": [
256
+ 2064674106
257
+ ],
258
+ "count": 1837
259
+ },
260
+ "task_index": {
261
+ "max": [
262
+ 0
263
+ ],
264
+ "min": [
265
+ 0
266
+ ],
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "sum": [
274
+ 0
275
+ ],
276
+ "square_sum": [
277
+ 0
278
+ ],
279
+ "count": 1837
280
+ },
281
+ "observation.images.main": {
282
+ "max": [
283
+ [
284
+ [
285
+ 1.0
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 1.0
296
+ ]
297
+ ]
298
+ ],
299
+ "min": [
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.003921568859368563
313
+ ]
314
+ ]
315
+ ],
316
+ "mean": [
317
+ [
318
+ [
319
+ 0.4830930829048157
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.47888416051864624
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.4529653489589691
330
+ ]
331
+ ]
332
+ ],
333
+ "std": [
334
+ [
335
+ [
336
+ 0.19553586840629578
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.18928292393684387
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.18284852802753448
347
+ ]
348
+ ]
349
+ ],
350
+ "sum": [
351
+ 68155544.0,
352
+ 67561744.0,
353
+ 63905076.0
354
+ ],
355
+ "square_sum": [
356
+ 38319628.0,
357
+ 37408924.0,
358
+ 33663648.0
359
+ ],
360
+ "count": 141081600
361
+ }
362
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up the red cube and put it in the box"}
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 sha256:76d1bd068d5710070cfbeb50a000beae85ecd0856d9574d1b87f454f51ca8aa3
3
+ size 2035374