Hugging Face's logo

Datasets:
tatung
/
block_to_box

Tasks:
Robotics
Tags:
phosphobot
so100
phospho-dk1
Dataset card Files
xet
 Community
tatung commited on
Commit
f86967c
·
verified ·
1 Parent(s): 506af84

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 +113 -0
  5. meta/stats.json +362 -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
+ # block_to_box
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:f8c8935dacce3553ecd3742ed66d9d49c5752a834054ee4d637bfd8c5efc1895
3
+ size 27843
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up the brown cube and put it in a round box"],"length":289}
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": 289,
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": "mp4v",
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
+ 0.47718452516064747,
5
+ 0.23629072950077076,
6
+ 1.5573707171641709,
7
+ 1.2121407552312267,
8
+ 0.2040692663870293,
9
+ 0.629085708411143,
10
+ 0.4817875913197534,
11
+ 0.2332220187280335,
12
+ 1.5604394279369083,
13
+ 1.2244155983221758,
14
+ 0.2117410433188725,
15
+ 0.6352231299566176
16
+ ],
17
+ "min": [
18
+ -0.4357569297286941,
19
+ -1.7645086943239376,
20
+ 0.2807870357054614,
21
+ -1.762974338937569,
22
+ -0.15803860479597007,
23
+ -0.013809198477317772,
24
+ -0.4388256405014314,
25
+ -1.7752491820285181,
26
+ 0.26237477106903767,
27
+ -1.7675774050966748,
28
+ -0.16571038172781327,
29
+ -0.02454968618189826
30
+ ],
31
+ "mean": [
32
+ 0.007262969441357449,
33
+ -0.9724043625963614,
34
+ 1.0621880440457736,
35
+ 0.09055882292487875,
36
+ 0.07793888260170115,
37
+ 0.2196676612837456,
38
+ 0.005112748225166089,
39
+ -1.0026136433868031,
40
+ 1.0361995678648932,
41
+ 0.09789612100086985,
42
+ 0.07873526082992024,
43
+ 0.16225940940553035
44
+ ],
45
+ "std": [
46
+ 0.2942234216408164,
47
+ 0.7802462715014492,
48
+ 0.49686798352745637,
49
+ 0.8826377482507851,
50
+ 0.08577639551626394,
51
+ 0.19936256302015976,
52
+ 0.29403303401932035,
53
+ 0.7854251965785929,
54
+ 0.509506166249167,
55
+ 0.8734219929236644,
56
+ 0.0890670173145089,
57
+ 0.20897649253404638
58
+ ],
59
+ "sum": [
60
+ 2.0989981685523027,
61
+ -281.02486079034844,
62
+ 306.97234472922855,
63
+ 26.17149982528996,
64
+ 22.524337071891633,
65
+ 63.483954111002475,
66
+ 1.4775842370729997,
67
+ -289.7553429387861,
68
+ 299.46167511295414,
69
+ 28.291978969251385,
70
+ 22.75449037984695,
71
+ 46.892969318198276
72
+ ],
73
+ "square_sum": [
74
+ 25.033229871902225,
75
+ 449.2084472020329,
76
+ 397.4100366168754,
77
+ 227.51533526851244,
78
+ 3.8818651807506823,
79
+ 25.431801441925053,
80
+ 24.993172368526995,
81
+ 468.7946617671796,
82
+ 385.32545651001215,
83
+ 223.2379425584014,
84
+ 4.0841985377937355,
85
+ 20.229794917642053
86
+ ],
87
+ "count": 289
88
+ },
89
+ "action": {
90
+ "max": [
91
+ 0.47718452516064747,
92
+ 0.23629072950077076,
93
+ 1.5573707171641709,
94
+ 1.2121407552312267,
95
+ 0.2040692663870293,
96
+ 0.629085708411143,
97
+ 0.4817875913197534,
98
+ 0.2332220187280335,
99
+ 1.5604394279369083,
100
+ 1.2244155983221758,
101
+ 0.2117410433188725,
102
+ 0.6352231299566176
103
+ ],
104
+ "min": [
105
+ -0.4357569297286941,
106
+ -1.7645086943239376,
107
+ 0.2807870357054614,
108
+ -1.762974338937569,
109
+ -0.15803860479597007,
110
+ -0.013809198477317772,
111
+ -0.4388256405014314,
112
+ -1.7752491820285181,
113
+ 0.26237477106903767,
114
+ -1.7675774050966748,
115
+ -0.16571038172781327,
116
+ -0.02454968618189826
117
+ ],
118
+ "mean": [
119
+ 0.007262969441357449,
120
+ -0.9724043625963614,
121
+ 1.0621880440457736,
122
+ 0.09055882292487875,
123
+ 0.07793888260170115,
124
+ 0.2196676612837456,
125
+ 0.005112748225166089,
126
+ -1.0026136433868031,
127
+ 1.0361995678648932,
128
+ 0.09789612100086985,
129
+ 0.07873526082992024,
130
+ 0.16225940940553035
131
+ ],
132
+ "std": [
133
+ 0.2942234216408164,
134
+ 0.7802462715014492,
135
+ 0.49686798352745637,
136
+ 0.8826377482507851,
137
+ 0.08577639551626394,
138
+ 0.19936256302015976,
139
+ 0.29403303401932035,
140
+ 0.7854251965785929,
141
+ 0.509506166249167,
142
+ 0.8734219929236644,
143
+ 0.0890670173145089,
144
+ 0.20897649253404638
145
+ ],
146
+ "sum": [
147
+ 2.0989981685523027,
148
+ -281.02486079034844,
149
+ 306.97234472922855,
150
+ 26.17149982528996,
151
+ 22.524337071891633,
152
+ 63.483954111002475,
153
+ 1.4775842370729997,
154
+ -289.7553429387861,
155
+ 299.46167511295414,
156
+ 28.291978969251385,
157
+ 22.75449037984695,
158
+ 46.892969318198276
159
+ ],
160
+ "square_sum": [
161
+ 25.033229871902225,
162
+ 449.2084472020329,
163
+ 397.4100366168754,
164
+ 227.51533526851244,
165
+ 3.8818651807506823,
166
+ 25.431801441925053,
167
+ 24.993172368526995,
168
+ 468.7946617671796,
169
+ 385.32545651001215,
170
+ 223.2379425584014,
171
+ 4.0841985377937355,
172
+ 20.229794917642053
173
+ ],
174
+ "count": 289
175
+ },
176
+ "timestamp": {
177
+ "max": [
178
+ 19.71087237505708
179
+ ],
180
+ "min": [
181
+ 0.06179820897523314
182
+ ],
183
+ "mean": [
184
+ 9.878254727426606
185
+ ],
186
+ "std": [
187
+ 5.649737960010064
188
+ ],
189
+ "sum": [
190
+ 2854.8156162262894
191
+ ],
192
+ "square_sum": [
193
+ 37425.34263276768
194
+ ],
195
+ "count": 289
196
+ },
197
+ "frame_index": {
198
+ "max": [
199
+ 288
200
+ ],
201
+ "min": [
202
+ 0
203
+ ],
204
+ "mean": [
205
+ 144.0
206
+ ],
207
+ "std": [
208
+ 83.42661445845684
209
+ ],
210
+ "sum": [
211
+ 41616
212
+ ],
213
+ "square_sum": [
214
+ 8004144
215
+ ],
216
+ "count": 289
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": 289
238
+ },
239
+ "index": {
240
+ "max": [
241
+ 288
242
+ ],
243
+ "min": [
244
+ 0
245
+ ],
246
+ "mean": [
247
+ 144.0
248
+ ],
249
+ "std": [
250
+ 83.42661445845684
251
+ ],
252
+ "sum": [
253
+ 41616
254
+ ],
255
+ "square_sum": [
256
+ 8004144
257
+ ],
258
+ "count": 289
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": 289
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
+ 0.0
313
+ ]
314
+ ]
315
+ ],
316
+ "mean": [
317
+ [
318
+ [
319
+ 0.6251111952133794
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.630071952494233
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.6304700115340254
330
+ ]
331
+ ]
332
+ ],
333
+ "std": [
334
+ [
335
+ [
336
+ 0.27237980581007326
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.2731572936169091
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.2773054881022067
347
+ ]
348
+ ]
349
+ ],
350
+ "sum": [
351
+ 13874468.0,
352
+ 13984573.0,
353
+ 13993408.0
354
+ ],
355
+ "square_sum": [
356
+ 10319764.0,
357
+ 10467380.0,
358
+ 10529198.0
359
+ ],
360
+ "count": 22195200
361
+ }
362
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up the brown cube and put it in a round 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 sha256:4421da420359945e1377beda14647fae7ecf3dfca9a322f70aabd3e15ceca2b9
3
+ size 1095663