Hugging Face's logo

Datasets:
tatung
/
block_to_round_box

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
1
tatung commited on
Commit
365f7b8
·
verified ·
1 Parent(s): 7b9656e

Upload folder using huggingface_hub

Browse files
Files changed (8) 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 +133 -0
  5. meta/stats.json +443 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.secondary_0/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_round_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:a783cf37adba4706185359cdc855229f717d1ee6d98183fe246e24217f8c3f36
3
+ size 23224
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":223}
meta/info.json ADDED
@@ -0,0 +1,133 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 223,
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
+ 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
+ "observation.images.secondary_0": {
113
+ "dtype": "video",
114
+ "shape": [
115
+ 240,
116
+ 320,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channel"
123
+ ],
124
+ "info": {
125
+ "video.fps": 30,
126
+ "video.codec": "mp4v",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "has_audio": false
130
+ }
131
+ }
132
+ }
133
+ }
meta/stats.json ADDED
@@ -0,0 +1,443 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.15650424940960142,
5
+ 0.018412264636423696,
6
+ 1.5543020063914337,
7
+ 1.3977977569818323,
8
+ 0.19793184484155474,
9
+ 0.7119408992750496,
10
+ 0.16110731556870733,
11
+ 0.01227484309094913,
12
+ 1.5589050725505396,
13
+ 1.4775842370730017,
14
+ 0.1963974894551861,
15
+ 0.727284453138736
16
+ ],
17
+ "min": [
18
+ -0.32528334191015196,
19
+ -1.770646115869412,
20
+ 0.49866550056980846,
21
+ 0.09206132318211849,
22
+ 0.03529017388647875,
23
+ -0.006137421545474565,
24
+ -0.33142076345562654,
25
+ -1.7737148266421494,
26
+ 0.44035999588780006,
27
+ 0.06444292622748293,
28
+ 0.030687107727372827,
29
+ -0.009206132318211848
30
+ ],
31
+ "mean": [
32
+ -0.014985766957447955,
33
+ -1.1539040557234974,
34
+ 1.2614052600132863,
35
+ 0.7583087062200643,
36
+ 0.15030490320727805,
37
+ 0.18940000323125344,
38
+ -0.01870812688581317,
39
+ -1.1734584862529105,
40
+ 1.2380115007592378,
41
+ 0.7715881048554517,
42
+ 0.15104799908946553,
43
+ 0.12773680604454635
44
+ ],
45
+ "std": [
46
+ 0.1385923573500572,
47
+ 0.6439728859320005,
48
+ 0.37520802244719165,
49
+ 0.511574643921716,
50
+ 0.06195362698931987,
51
+ 0.22329143436120175,
52
+ 0.13760623394230512,
53
+ 0.6461655733569313,
54
+ 0.39710515239709654,
55
+ 0.5436570995336097,
56
+ 0.06315612217324335,
57
+ 0.21347357782792734
58
+ ],
59
+ "sum": [
60
+ -3.341826031510894,
61
+ -257.3206044263399,
62
+ 281.29337298296286,
63
+ 169.10284148707433,
64
+ 33.517993415223,
65
+ 42.23620072056952,
66
+ -4.1719122955363375,
67
+ -261.68124243439905,
68
+ 276.07656466931,
69
+ 172.06414738276573,
70
+ 33.683703796950816,
71
+ 28.485307747933838
72
+ ],
73
+ "square_sum": [
74
+ 4.333428484154203,
75
+ 389.40162942165176,
76
+ 386.2191166918359,
77
+ 186.59317838190955,
78
+ 5.893848929037664,
79
+ 19.118107971927216,
80
+ 4.3006597277933,
81
+ 400.18125307459803,
82
+ 376.95139011015897,
83
+ 198.67320773038264,
84
+ 5.9773352167070986,
85
+ 13.800948190953358
86
+ ],
87
+ "count": 223
88
+ },
89
+ "action": {
90
+ "max": [
91
+ 0.15650424940960142,
92
+ 0.018412264636423696,
93
+ 1.5543020063914337,
94
+ 1.3977977569818323,
95
+ 0.19793184484155474,
96
+ 0.7119408992750496,
97
+ 0.16110731556870733,
98
+ 0.01227484309094913,
99
+ 1.5589050725505396,
100
+ 1.4775842370730017,
101
+ 0.1963974894551861,
102
+ 0.727284453138736
103
+ ],
104
+ "min": [
105
+ -0.32528334191015196,
106
+ -1.770646115869412,
107
+ 0.49866550056980846,
108
+ 0.09206132318211849,
109
+ 0.03529017388647875,
110
+ -0.006137421545474565,
111
+ -0.33142076345562654,
112
+ -1.7737148266421494,
113
+ 0.44035999588780006,
114
+ 0.06444292622748293,
115
+ 0.030687107727372827,
116
+ -0.009206132318211848
117
+ ],
118
+ "mean": [
119
+ -0.014985766957447955,
120
+ -1.1539040557234974,
121
+ 1.2614052600132863,
122
+ 0.7583087062200643,
123
+ 0.15030490320727805,
124
+ 0.18940000323125344,
125
+ -0.01870812688581317,
126
+ -1.1734584862529105,
127
+ 1.2380115007592378,
128
+ 0.7715881048554517,
129
+ 0.15104799908946553,
130
+ 0.12773680604454635
131
+ ],
132
+ "std": [
133
+ 0.1385923573500572,
134
+ 0.6439728859320005,
135
+ 0.37520802244719165,
136
+ 0.511574643921716,
137
+ 0.06195362698931987,
138
+ 0.22329143436120175,
139
+ 0.13760623394230512,
140
+ 0.6461655733569313,
141
+ 0.39710515239709654,
142
+ 0.5436570995336097,
143
+ 0.06315612217324335,
144
+ 0.21347357782792734
145
+ ],
146
+ "sum": [
147
+ -3.341826031510894,
148
+ -257.3206044263399,
149
+ 281.29337298296286,
150
+ 169.10284148707433,
151
+ 33.517993415223,
152
+ 42.23620072056952,
153
+ -4.1719122955363375,
154
+ -261.68124243439905,
155
+ 276.07656466931,
156
+ 172.06414738276573,
157
+ 33.683703796950816,
158
+ 28.485307747933838
159
+ ],
160
+ "square_sum": [
161
+ 4.333428484154203,
162
+ 389.40162942165176,
163
+ 386.2191166918359,
164
+ 186.59317838190955,
165
+ 5.893848929037664,
166
+ 19.118107971927216,
167
+ 4.3006597277933,
168
+ 400.18125307459803,
169
+ 376.95139011015897,
170
+ 198.67320773038264,
171
+ 5.9773352167070986,
172
+ 13.800948190953358
173
+ ],
174
+ "count": 223
175
+ },
176
+ "timestamp": {
177
+ "max": [
178
+ 17.581128375022672
179
+ ],
180
+ "min": [
181
+ 0.06302474997937679
182
+ ],
183
+ "mean": [
184
+ 9.04873662652665
185
+ ],
186
+ "std": [
187
+ 5.066612038595825
188
+ ],
189
+ "sum": [
190
+ 2017.868267715443
191
+ ],
192
+ "square_sum": [
193
+ 23983.69283515325
194
+ ],
195
+ "count": 223
196
+ },
197
+ "frame_index": {
198
+ "max": [
199
+ 222
200
+ ],
201
+ "min": [
202
+ 0
203
+ ],
204
+ "mean": [
205
+ 111.0
206
+ ],
207
+ "std": [
208
+ 64.37390775772433
209
+ ],
210
+ "sum": [
211
+ 24753
212
+ ],
213
+ "square_sum": [
214
+ 3671695
215
+ ],
216
+ "count": 223
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": 223
238
+ },
239
+ "index": {
240
+ "max": [
241
+ 222
242
+ ],
243
+ "min": [
244
+ 0
245
+ ],
246
+ "mean": [
247
+ 111.0
248
+ ],
249
+ "std": [
250
+ 64.37390775772433
251
+ ],
252
+ "sum": [
253
+ 24753
254
+ ],
255
+ "square_sum": [
256
+ 3671695
257
+ ],
258
+ "count": 223
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": 223
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
+ 0.6287174771113603
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.6353632987668162
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.6346545683856503
330
+ ]
331
+ ]
332
+ ],
333
+ "std": [
334
+ [
335
+ [
336
+ 0.2707611798848728
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.27633131040008657
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.27890209521464043
347
+ ]
348
+ ]
349
+ ],
350
+ "sum": [
351
+ 10767667.0,
352
+ 10881486.0,
353
+ 10869348.0
354
+ ],
355
+ "square_sum": [
356
+ 8025384.5,
357
+ 8221451.5,
358
+ 8230482.0
359
+ ],
360
+ "count": 17126400
361
+ },
362
+ "observation.images.secondary_0": {
363
+ "max": [
364
+ [
365
+ [
366
+ 1.0
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 1.0
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ "min": [
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.0
394
+ ]
395
+ ]
396
+ ],
397
+ "mean": [
398
+ [
399
+ [
400
+ 0.5021381609678625
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.5078307758781764
406
+ ]
407
+ ],
408
+ [
409
+ [
410
+ 0.501978115657698
411
+ ]
412
+ ]
413
+ ],
414
+ "std": [
415
+ [
416
+ [
417
+ 0.20906772690141914
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.20402719343882567
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.21433668434004893
428
+ ]
429
+ ]
430
+ ],
431
+ "sum": [
432
+ 8599819.0,
433
+ 8697313.0,
434
+ 8597078.0
435
+ ],
436
+ "square_sum": [
437
+ 5066880.5,
438
+ 5129685.5,
439
+ 5102335.5
440
+ ],
441
+ "count": 17126400
442
+ }
443
+ }
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:ad1571be24cdcda8d7ab1eb04e627006afaeb7e1bb772724cd5db1c1ba644db5
3
+ size 784274
videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ab6ae499aaab09a7c49bf619ec798bb908bcbb117777022faa7397dcb8fb385
3
+ size 689750