vobotics commited on
Commit
dc824e7
·
verified ·
1 Parent(s): 86dac76

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_dataset
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 sha256:0b5cb69a60d1aead17c3356b65d587976e0dc33731e6f8a4608e6dcbc65c2a2c
3
+ size 34353
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":853}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"max": [0.710406543888681, 0.4296195081832196, 0.3743827142739485, 1.1216137874354768, 0.0521680831365338, 2.1051355900977757], "min": [-1.069445704298943, -0.21327539870524115, -0.3959786652441993, -0.03989324004558467, -0.007671776931843207, 1.4113604657114812e-06], "mean": [-0.33360412740549944, 0.0667369295212864, 0.1388353709762118, 0.41291409642260296, 0.011439647300483446, 1.445388291686136], "std": [0.6946161338347342, 0.21814847943844845, 0.18020904286043304, 0.3546461700408601, 0.02379207244804178, 0.8579121349234811], "count": [853]}, "action": {"max": [0.710406543888681, 0.4296195081832196, 0.3743827142739485, 1.1216137874354768, 0.0521680831365338, 2.1051355900977757], "min": [-1.069445704298943, -0.21327539870524115, -0.3959786652441993, -0.03989324004558467, -0.007671776931843207, 1.4113604657114812e-06], "mean": [-0.33360412740549944, 0.0667369295212864, 0.1388353709762118, 0.41291409642260296, 0.011439647300483446, 1.445388291686136], "std": [0.6946161338347342, 0.21814847943844845, 0.18020904286043304, 0.3546461700408601, 0.02379207244804178, 0.8579121349234811], "count": [853]}, "timestamp": {"max": [29.09095634399273], "min": [0.000712724999175407], "mean": [14.533399870596181], "std": [8.406169660765], "count": [853]}, "frame_index": {"max": [852], "min": [0], "mean": [426.0], "std": [246.23972059763227], "count": [853]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [853]}, "index": {"max": [852], "min": [0], "mean": [426.0], "std": [246.23972059763227], "count": [853]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [853]}, "observation.images.main": {"max": [[[0.9921568632125854]], [[0.9882352948188782]], [[0.9960784316062927]]], "min": [[[0.0]], [[0.007843137718737125]], [[0.0]]], "mean": [[[0.5318040251731873]], [[0.5348742604255676]], [[0.5185030102729797]]], "std": [[[0.12871989607810974]], [[0.137706458568573]], [[0.1441534161567688]]], "count": [65510400]}, "observation.images.secondary_0": {"max": [[[0.772549033164978]], [[0.7960784435272217]], [[0.8039215803146362]]], "min": [[[0.0117647061124444]], [[0.0313725508749485]], [[0.01568627543747425]]], "mean": [[[0.5272940993309021]], [[0.5355517268180847]], [[0.5277844071388245]]], "std": [[[0.10851865261793137]], [[0.11665145307779312]], [[0.11877573281526566]]], "count": [65510400]}}}
meta/info.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.1",
4
+ "total_episodes": 1,
5
+ "total_frames": 853,
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
+ 6
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "motor_1",
38
+ "motor_2",
39
+ "motor_3",
40
+ "motor_4",
41
+ "motor_5",
42
+ "motor_6"
43
+ ]
44
+ },
45
+ "timestamp": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "episode_index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "frame_index": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "task_index": {
67
+ "dtype": "int64",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "names": null
72
+ },
73
+ "index": {
74
+ "dtype": "int64",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "names": null
79
+ },
80
+ "observation.images.main": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 240,
84
+ 320,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channel"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30,
94
+ "video.codec": "avc1",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ },
100
+ "observation.images.secondary_0": {
101
+ "dtype": "video",
102
+ "shape": [
103
+ 240,
104
+ 320,
105
+ 3
106
+ ],
107
+ "names": [
108
+ "height",
109
+ "width",
110
+ "channel"
111
+ ],
112
+ "info": {
113
+ "video.fps": 30,
114
+ "video.codec": "avc1",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ }
120
+ }
121
+ }
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:aee6972025d1d7555262829e08628d68d98b4231edbfff189e3246c571a79c4a
3
+ size 910919
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:b2ea59c6ae09a0fb53d64b7c0045c376bdca77de676e863e7499662a508bb9b8
3
+ size 747959