Add files using upload-large-folder tool
Browse files- README.md +15 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +101 -0
- meta/stats.json +290 -0
- meta/tasks.jsonl +1 -0
- 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-dk
|
7 |
+
task_categories:
|
8 |
+
- robotics
|
9 |
+
---
|
10 |
+
|
11 |
+
# my_dataset_15
|
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 sha256:336c23a37c85234485b86556fa3a202ba85c56e954fe13f15fa288f4b61530d4
|
3 |
+
size 7842
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
1 |
+
{"episode_index":0,"tasks":["Pick up the lego brick and put in the box"],"length":50}
|
2 |
+
{"episode_index":1,"tasks":["Pick up the lego brick and put in the box"],"length":36}
|
meta/info.json
ADDED
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"robot_type": "so-100",
|
3 |
+
"codebase_version": "v2.0",
|
4 |
+
"total_episodes": 2,
|
5 |
+
"total_frames": 86,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 2,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:2"
|
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 |
+
0.8669107932982819,
|
5 |
+
-1.356370161549878,
|
6 |
+
1.399999999999999,
|
7 |
+
0.3390925403874699,
|
8 |
+
0.7272844531387356,
|
9 |
+
0.015343553863686963
|
10 |
+
],
|
11 |
+
"min": [
|
12 |
+
-0.8101396440026422,
|
13 |
+
-1.5708000000000009,
|
14 |
+
0.55390229447908,
|
15 |
+
0.323748986523783,
|
16 |
+
0.7134752546614178,
|
17 |
+
0.015343553863686406
|
18 |
+
],
|
19 |
+
"mean": [
|
20 |
+
-0.14137479164633843,
|
21 |
+
-1.4703330130217727,
|
22 |
+
0.9399765446318713,
|
23 |
+
0.32963662928542997,
|
24 |
+
0.7237340261400459,
|
25 |
+
0.01534355386368646
|
26 |
+
],
|
27 |
+
"std": [
|
28 |
+
0.537488577545272,
|
29 |
+
0.08712707350235614,
|
30 |
+
0.23078242869724397,
|
31 |
+
0.005120309653755094,
|
32 |
+
0.004328833085767116,
|
33 |
+
1.05418557512311e-09
|
34 |
+
],
|
35 |
+
"sum": [
|
36 |
+
-12.158232081585105,
|
37 |
+
-126.44863911987245,
|
38 |
+
80.83798283834093,
|
39 |
+
28.348750118546977,
|
40 |
+
62.24112624804395,
|
41 |
+
1.3195456322770356
|
42 |
+
],
|
43 |
+
"square_sum": [
|
44 |
+
26.563749032602956,
|
45 |
+
186.57444546621414,
|
46 |
+
80.56621331139849,
|
47 |
+
9.347041144634488,
|
48 |
+
45.0476324274338,
|
49 |
+
0.020246519484434997
|
50 |
+
],
|
51 |
+
"count": 86
|
52 |
+
},
|
53 |
+
"action": {
|
54 |
+
"max": [
|
55 |
+
0.8669107932982819,
|
56 |
+
-1.356370161549878,
|
57 |
+
1.399999999999999,
|
58 |
+
0.3390925403874699,
|
59 |
+
0.7272844531387356,
|
60 |
+
0.015343553863686963
|
61 |
+
],
|
62 |
+
"min": [
|
63 |
+
-0.8101396440026422,
|
64 |
+
-1.5708000000000009,
|
65 |
+
0.55390229447908,
|
66 |
+
0.323748986523783,
|
67 |
+
0.7134752546614178,
|
68 |
+
0.015343553863686406
|
69 |
+
],
|
70 |
+
"mean": [
|
71 |
+
-0.14137479164633843,
|
72 |
+
-1.4703330130217727,
|
73 |
+
0.9399765446318713,
|
74 |
+
0.32963662928542997,
|
75 |
+
0.7237340261400459,
|
76 |
+
0.01534355386368646
|
77 |
+
],
|
78 |
+
"std": [
|
79 |
+
0.537488577545272,
|
80 |
+
0.08712707350235614,
|
81 |
+
0.23078242869724397,
|
82 |
+
0.005120309653755094,
|
83 |
+
0.004328833085767116,
|
84 |
+
1.05418557512311e-09
|
85 |
+
],
|
86 |
+
"sum": [
|
87 |
+
-12.158232081585105,
|
88 |
+
-126.44863911987245,
|
89 |
+
80.83798283834093,
|
90 |
+
28.348750118546977,
|
91 |
+
62.24112624804395,
|
92 |
+
1.3195456322770356
|
93 |
+
],
|
94 |
+
"square_sum": [
|
95 |
+
26.563749032602956,
|
96 |
+
186.57444546621414,
|
97 |
+
80.56621331139849,
|
98 |
+
9.347041144634488,
|
99 |
+
45.0476324274338,
|
100 |
+
0.020246519484434997
|
101 |
+
],
|
102 |
+
"count": 86
|
103 |
+
},
|
104 |
+
"timestamp": {
|
105 |
+
"max": [
|
106 |
+
2.6970476250280626
|
107 |
+
],
|
108 |
+
"min": [
|
109 |
+
0.04874895804096013
|
110 |
+
],
|
111 |
+
"mean": [
|
112 |
+
1.219739447813481
|
113 |
+
],
|
114 |
+
"std": [
|
115 |
+
0.7216045455908495
|
116 |
+
],
|
117 |
+
"sum": [
|
118 |
+
104.89759251195937
|
119 |
+
],
|
120 |
+
"square_sum": [
|
121 |
+
172.72905990619526
|
122 |
+
],
|
123 |
+
"count": 86
|
124 |
+
},
|
125 |
+
"frame_index": {
|
126 |
+
"max": [
|
127 |
+
49
|
128 |
+
],
|
129 |
+
"min": [
|
130 |
+
0
|
131 |
+
],
|
132 |
+
"mean": [
|
133 |
+
21.569767441860463
|
134 |
+
],
|
135 |
+
"std": [
|
136 |
+
13.34823452978692
|
137 |
+
],
|
138 |
+
"sum": [
|
139 |
+
1855
|
140 |
+
],
|
141 |
+
"square_sum": [
|
142 |
+
55335
|
143 |
+
],
|
144 |
+
"count": 86
|
145 |
+
},
|
146 |
+
"episode_index": {
|
147 |
+
"max": [
|
148 |
+
1
|
149 |
+
],
|
150 |
+
"min": [
|
151 |
+
0
|
152 |
+
],
|
153 |
+
"mean": [
|
154 |
+
0.4186046511627907
|
155 |
+
],
|
156 |
+
"std": [
|
157 |
+
0.49333031245573084
|
158 |
+
],
|
159 |
+
"sum": [
|
160 |
+
36
|
161 |
+
],
|
162 |
+
"square_sum": [
|
163 |
+
36
|
164 |
+
],
|
165 |
+
"count": 86
|
166 |
+
},
|
167 |
+
"index": {
|
168 |
+
"max": [
|
169 |
+
85
|
170 |
+
],
|
171 |
+
"min": [
|
172 |
+
0
|
173 |
+
],
|
174 |
+
"mean": [
|
175 |
+
42.5
|
176 |
+
],
|
177 |
+
"std": [
|
178 |
+
24.82438317461282
|
179 |
+
],
|
180 |
+
"sum": [
|
181 |
+
3655
|
182 |
+
],
|
183 |
+
"square_sum": [
|
184 |
+
208335
|
185 |
+
],
|
186 |
+
"count": 86
|
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": 86
|
208 |
+
},
|
209 |
+
"observation.images.main": {
|
210 |
+
"max": [
|
211 |
+
[
|
212 |
+
[
|
213 |
+
1.0
|
214 |
+
]
|
215 |
+
],
|
216 |
+
[
|
217 |
+
[
|
218 |
+
1.0
|
219 |
+
]
|
220 |
+
],
|
221 |
+
[
|
222 |
+
[
|
223 |
+
0.95686274766922
|
224 |
+
]
|
225 |
+
]
|
226 |
+
],
|
227 |
+
"min": [
|
228 |
+
[
|
229 |
+
[
|
230 |
+
0.003921568859368563
|
231 |
+
]
|
232 |
+
],
|
233 |
+
[
|
234 |
+
[
|
235 |
+
0.01568627543747425
|
236 |
+
]
|
237 |
+
],
|
238 |
+
[
|
239 |
+
[
|
240 |
+
0.0117647061124444
|
241 |
+
]
|
242 |
+
]
|
243 |
+
],
|
244 |
+
"mean": [
|
245 |
+
[
|
246 |
+
[
|
247 |
+
0.6357777824697568
|
248 |
+
]
|
249 |
+
],
|
250 |
+
[
|
251 |
+
[
|
252 |
+
0.6147419519941936
|
253 |
+
]
|
254 |
+
],
|
255 |
+
[
|
256 |
+
[
|
257 |
+
0.5715810181373774
|
258 |
+
]
|
259 |
+
]
|
260 |
+
],
|
261 |
+
"std": [
|
262 |
+
[
|
263 |
+
[
|
264 |
+
0.22934593332934128
|
265 |
+
]
|
266 |
+
],
|
267 |
+
[
|
268 |
+
[
|
269 |
+
0.2298074455615661
|
270 |
+
]
|
271 |
+
],
|
272 |
+
[
|
273 |
+
[
|
274 |
+
0.22239149184894041
|
275 |
+
]
|
276 |
+
]
|
277 |
+
],
|
278 |
+
"sum": [
|
279 |
+
4199185.09765625,
|
280 |
+
4060247.64453125,
|
281 |
+
3775178.30859375
|
282 |
+
],
|
283 |
+
"square_sum": [
|
284 |
+
3017158.14453125,
|
285 |
+
2844813.70703125,
|
286 |
+
2484480.298828125
|
287 |
+
],
|
288 |
+
"count": 6604800
|
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:e52122ce16f733fda818b004a8e586d99439273584ceffdf105584b7ebad518e
|
3 |
+
size 156929
|