Upload folder using huggingface_hub
Browse files- README.md +15 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +141 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.secondary_1/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 |
+
# pick-and-place_3cams_1
|
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 sha256:9e00dff37d3b2baf715aafa724a7bcf83ab5bc0668985fbfd39aa72668795190
|
3 |
+
size 41829
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index":0,"tasks":["Pick up object and place in box."],"length":578}
|
meta/episodes_stats.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "stats": {"observation.state": {"max": [0.25009992797808855, 1.0556365058216262, 1.4000000000000008, 1.6700000000000008, 0.1703134478869193, 1.5000000000000009], "min": [-0.49866550056980824, -1.570800000000001, -1.600000000000001, 0.9236819425939223, -1.2980646568678715, -0.0015343553863690382], "mean": [-0.10112676201334467, -0.32363962160217274, 0.06826958823252693, 1.357456064272459, -0.47630850910960915, 0.39693761707628067], "std": [0.23130128354575863, 0.8519241961808733, 1.0248662382443885, 0.214593538671189, 0.5366731722193894, 0.5374103919635135], "count": [578]}, "action": {"max": [0.25009992797808855, 1.0556365058216262, 1.4000000000000008, 1.6700000000000008, 0.1703134478869193, 1.5000000000000009], "min": [-0.49866550056980824, -1.570800000000001, -1.600000000000001, 0.9236819425939223, -1.2980646568678715, -0.0015343553863690382], "mean": [-0.10112676201334467, -0.32363962160217274, 0.06826958823252693, 1.357456064272459, -0.47630850910960915, 0.39693761707628067], "std": [0.23130128354575863, 0.8519241961808733, 1.0248662382443885, 0.214593538671189, 0.5366731722193894, 0.5374103919635135], "count": [578]}, "timestamp": {"max": [45.457047454998246], "min": [0.06493620098626707], "mean": [22.782579570442994], "std": [13.123964560450187], "count": [578]}, "frame_index": {"max": [577], "min": [0], "mean": [288.5], "std": [166.8539780766404], "count": [578]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [578]}, "index": {"max": [577], "min": [0], "mean": [288.5], "std": [166.8539780766404], "count": [578]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [578]}, "observation.images.main": {"max": [[[0.8901960849761963]], [[0.9960784316062927]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.5341470678344867]], [[0.5507949917099193]], [[0.5439087730680507]]], "std": [[[0.11153103457831176]], [[0.07609627243304515]], [[0.07517358758755734]]], "count": [44390400]}, "observation.images.secondary_0": {"max": [[[0.886274516582489]], [[0.8156862854957581]], [[0.8705882430076599]]], "min": [[[0.0]], [[0.003921568859368563]], [[0.0]]], "mean": [[[0.5509144319492503]], [[0.5799865736735871]], [[0.5769839424740485]]], "std": [[[0.12340841571663128]], [[0.08775332931843467]], [[0.11110324918631656]]], "count": [44390400]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.5968790098760093]], [[0.6028429570357555]], [[0.5003140769175317]]], "std": [[[0.2583585051661653]], [[0.1697117136070201]], [[0.18175705019613764]]], "count": [44390400]}}}
|
meta/info.json
ADDED
@@ -0,0 +1,141 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"robot_type": "so-100",
|
3 |
+
"codebase_version": "v2.1",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 578,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 3,
|
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 |
+
"observation.images.secondary_1": {
|
121 |
+
"dtype": "video",
|
122 |
+
"shape": [
|
123 |
+
240,
|
124 |
+
320,
|
125 |
+
3
|
126 |
+
],
|
127 |
+
"names": [
|
128 |
+
"height",
|
129 |
+
"width",
|
130 |
+
"channel"
|
131 |
+
],
|
132 |
+
"info": {
|
133 |
+
"video.fps": 30,
|
134 |
+
"video.codec": "avc1",
|
135 |
+
"video.pix_fmt": "yuv420p",
|
136 |
+
"video.is_depth_map": false,
|
137 |
+
"has_audio": false
|
138 |
+
}
|
139 |
+
}
|
140 |
+
}
|
141 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index":0,"task":"Pick up object and place in 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 sha256:8bb2b87fd40ee475771ff713dc9458c916c8f7c7327a82279b14d97e4a856707
|
3 |
+
size 417878
|
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 sha256:3a1aec57fe7ec372c8513e3666ca4ab937d437836f6cea89be090ab52b92297e
|
3 |
+
size 402627
|
videos/chunk-000/observation.images.secondary_1/episode_000000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:6082c204ee24407c20a07ff4e4be5531c5c86fd0cbe585ba5c69354f13f06385
|
3 |
+
size 1017850
|