oulianov commited on
Commit
89883dc
·
verified ·
1 Parent(s): b3c1f90

Add files using upload-large-folder tool

Browse files
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # my_dataset_13
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 sha256:64ab0f8ff04abcb6a04731ce08cb27d25f705bd85cf768a48e55370fac716acf
3
+ size 5885
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up the lego brick and put in the box"],"length":59}
meta/info.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 59,
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
+ 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": "mp4v",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ }
100
+ }
101
+ }
meta/stats.json ADDED
@@ -0,0 +1,290 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ -0.26544348184177496,
5
+ -1.6923939911646113,
6
+ 1.586523469505175,
7
+ 0.48485630209249064,
8
+ -0.03375581850011011,
9
+ 0.01227484309094913
10
+ ],
11
+ "min": [
12
+ -0.26544348184177496,
13
+ -1.6923939911646113,
14
+ 1.586523469505175,
15
+ 0.48485630209249064,
16
+ -0.03375581850011011,
17
+ 0.01227484309094913
18
+ ],
19
+ "mean": [
20
+ -0.26544348184177485,
21
+ -1.6923939911646106,
22
+ 1.5865234695051764,
23
+ 0.4848563020924912,
24
+ -0.03375581850011011,
25
+ 0.012274843090949136
26
+ ],
27
+ "std": [
28
+ 0.0,
29
+ 4.2146848510894035e-08,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ "sum": [
36
+ -15.661165428664715,
37
+ -99.85124547871203,
38
+ 93.60488470080541,
39
+ 28.60652182345698,
40
+ -1.9915932915064967,
41
+ 0.7242157423659991
42
+ ],
43
+ "square_sum": [
44
+ 4.157154281084795,
45
+ 168.98764785847482,
46
+ 148.50634643815346,
47
+ 13.870052387049482,
48
+ 0.06722786167413017,
49
+ 0.008889634601537882
50
+ ],
51
+ "count": 59
52
+ },
53
+ "action": {
54
+ "max": [
55
+ -0.26544348184177496,
56
+ -1.6923939911646113,
57
+ 1.586523469505175,
58
+ 0.48485630209249064,
59
+ -0.03375581850011011,
60
+ 0.01227484309094913
61
+ ],
62
+ "min": [
63
+ -0.26544348184177496,
64
+ -1.6923939911646113,
65
+ 1.586523469505175,
66
+ 0.48485630209249064,
67
+ -0.03375581850011011,
68
+ 0.01227484309094913
69
+ ],
70
+ "mean": [
71
+ -0.26544348184177485,
72
+ -1.6923939911646106,
73
+ 1.5865234695051764,
74
+ 0.4848563020924912,
75
+ -0.03375581850011011,
76
+ 0.012274843090949136
77
+ ],
78
+ "std": [
79
+ 0.0,
80
+ 4.2146848510894035e-08,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ],
86
+ "sum": [
87
+ -15.661165428664715,
88
+ -99.85124547871203,
89
+ 93.60488470080541,
90
+ 28.60652182345698,
91
+ -1.9915932915064967,
92
+ 0.7242157423659991
93
+ ],
94
+ "square_sum": [
95
+ 4.157154281084795,
96
+ 168.98764785847482,
97
+ 148.50634643815346,
98
+ 13.870052387049482,
99
+ 0.06722786167413017,
100
+ 0.008889634601537882
101
+ ],
102
+ "count": 59
103
+ },
104
+ "timestamp": {
105
+ "max": [
106
+ 3.1071992920478806
107
+ ],
108
+ "min": [
109
+ 0.006406833010260016
110
+ ],
111
+ "mean": [
112
+ 1.5460856158564547
113
+ ],
114
+ "std": [
115
+ 0.9178986140115153
116
+ ],
117
+ "sum": [
118
+ 91.21905133553082
119
+ ],
120
+ "square_sum": [
121
+ 190.7421972325871
122
+ ],
123
+ "count": 59
124
+ },
125
+ "frame_index": {
126
+ "max": [
127
+ 58
128
+ ],
129
+ "min": [
130
+ 0
131
+ ],
132
+ "mean": [
133
+ 29.0
134
+ ],
135
+ "std": [
136
+ 17.029386365926403
137
+ ],
138
+ "sum": [
139
+ 1711
140
+ ],
141
+ "square_sum": [
142
+ 66729
143
+ ],
144
+ "count": 59
145
+ },
146
+ "episode_index": {
147
+ "max": [
148
+ 0
149
+ ],
150
+ "min": [
151
+ 0
152
+ ],
153
+ "mean": [
154
+ 0.0
155
+ ],
156
+ "std": [
157
+ 0.0
158
+ ],
159
+ "sum": [
160
+ 0
161
+ ],
162
+ "square_sum": [
163
+ 0
164
+ ],
165
+ "count": 59
166
+ },
167
+ "index": {
168
+ "max": [
169
+ 58
170
+ ],
171
+ "min": [
172
+ 0
173
+ ],
174
+ "mean": [
175
+ 29.0
176
+ ],
177
+ "std": [
178
+ 17.029386365926403
179
+ ],
180
+ "sum": [
181
+ 1711
182
+ ],
183
+ "square_sum": [
184
+ 66729
185
+ ],
186
+ "count": 59
187
+ },
188
+ "task_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "sum": [
202
+ 0
203
+ ],
204
+ "square_sum": [
205
+ 0
206
+ ],
207
+ "count": 59
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "min": [
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.5052161127295198
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.4836858889477401
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.4713521252648305
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.3169126454391651
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.31314623157751076
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.32670782569323814
275
+ ]
276
+ ]
277
+ ],
278
+ "sum": [
279
+ 2289235.25,
280
+ 2191677.5,
281
+ 2135790.75
282
+ ],
283
+ "square_sum": [
284
+ 1611643.375,
285
+ 1504415.5,
286
+ 1490360.75
287
+ ],
288
+ "count": 4531200
289
+ }
290
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up the lego brick and put 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 sha256:2b02d9182b7625f0393ac9baca7d767165085250148c311215f3717ed5a398e2
3
+ size 36844