Hugging Face's logo

Datasets:
yingf
/
example_dataset

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dataset card Data Studio Files Community
1
yingf commited on
Commit
aac19d8
·
verified ·
1 Parent(s): 39cb1b3

Upload folder using huggingface_hub

Browse files
Files changed (9) 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 +153 -0
  5. meta/stats.json +524 -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
  9. 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-dk1
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # example_dataset
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 sha256:82318b4c1dc084f543bd6b7eddc5dd27761cad2d9579f5fe00f139710a0dbe9c
3
+ size 5410
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":33}
meta/info.json ADDED
@@ -0,0 +1,153 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 33,
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
+ 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
+ "observation.images.secondary_1": {
133
+ "dtype": "video",
134
+ "shape": [
135
+ 240,
136
+ 320,
137
+ 3
138
+ ],
139
+ "names": [
140
+ "height",
141
+ "width",
142
+ "channel"
143
+ ],
144
+ "info": {
145
+ "video.fps": 30,
146
+ "video.codec": "mp4v",
147
+ "video.pix_fmt": "yuv420p",
148
+ "video.is_depth_map": false,
149
+ "has_audio": false
150
+ }
151
+ }
152
+ }
153
+ }
meta/stats.json ADDED
@@ -0,0 +1,524 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.0,
5
+ 0.0,
6
+ 0.0,
7
+ 0.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0
16
+ ],
17
+ "min": [
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "mean": [
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0
44
+ ],
45
+ "std": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0
58
+ ],
59
+ "sum": [
60
+ 0.0,
61
+ 0.0,
62
+ 0.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 0.0,
70
+ 0.0,
71
+ 0.0
72
+ ],
73
+ "square_sum": [
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0
86
+ ],
87
+ "count": 33
88
+ },
89
+ "action": {
90
+ "max": [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.0
103
+ ],
104
+ "min": [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 0.0,
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0,
116
+ 0.0
117
+ ],
118
+ "mean": [
119
+ 0.0,
120
+ 0.0,
121
+ 0.0,
122
+ 0.0,
123
+ 0.0,
124
+ 0.0,
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 0.0,
129
+ 0.0,
130
+ 0.0
131
+ ],
132
+ "std": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.0,
136
+ 0.0,
137
+ 0.0,
138
+ 0.0,
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 0.0
145
+ ],
146
+ "sum": [
147
+ 0.0,
148
+ 0.0,
149
+ 0.0,
150
+ 0.0,
151
+ 0.0,
152
+ 0.0,
153
+ 0.0,
154
+ 0.0,
155
+ 0.0,
156
+ 0.0,
157
+ 0.0,
158
+ 0.0
159
+ ],
160
+ "square_sum": [
161
+ 0.0,
162
+ 0.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0,
172
+ 0.0
173
+ ],
174
+ "count": 33
175
+ },
176
+ "timestamp": {
177
+ "max": [
178
+ 2.4551222609879915
179
+ ],
180
+ "min": [
181
+ 0.0010320899891667068
182
+ ],
183
+ "mean": [
184
+ 1.2218528159860536
185
+ ],
186
+ "std": [
187
+ 0.738861519968682
188
+ ],
189
+ "sum": [
190
+ 40.32114292753977
191
+ ],
192
+ "square_sum": [
193
+ 67.28174143757484
194
+ ],
195
+ "count": 33
196
+ },
197
+ "frame_index": {
198
+ "max": [
199
+ 32
200
+ ],
201
+ "min": [
202
+ 0
203
+ ],
204
+ "mean": [
205
+ 16.0
206
+ ],
207
+ "std": [
208
+ 9.521904571390468
209
+ ],
210
+ "sum": [
211
+ 528
212
+ ],
213
+ "square_sum": [
214
+ 11440
215
+ ],
216
+ "count": 33
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": 33
238
+ },
239
+ "index": {
240
+ "max": [
241
+ 32
242
+ ],
243
+ "min": [
244
+ 0
245
+ ],
246
+ "mean": [
247
+ 16.0
248
+ ],
249
+ "std": [
250
+ 9.521904571390468
251
+ ],
252
+ "sum": [
253
+ 528
254
+ ],
255
+ "square_sum": [
256
+ 11440
257
+ ],
258
+ "count": 33
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": 33
280
+ },
281
+ "observation.images.main": {
282
+ "max": [
283
+ [
284
+ [
285
+ 0.8392156958580017
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.9176470637321472
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.9686274528503418
296
+ ]
297
+ ]
298
+ ],
299
+ "min": [
300
+ [
301
+ [
302
+ 0.0784313753247261
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.1921568661928177
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.20392157137393951
313
+ ]
314
+ ]
315
+ ],
316
+ "mean": [
317
+ [
318
+ [
319
+ 0.5764487649936869
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.6050013316761363
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.6272511738478536
330
+ ]
331
+ ]
332
+ ],
333
+ "std": [
334
+ [
335
+ [
336
+ 0.08965015895735422
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.1121240363908602
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.13539818122519517
347
+ ]
348
+ ]
349
+ ],
350
+ "sum": [
351
+ 1460951.75,
352
+ 1533315.375,
353
+ 1589705.375
354
+ ],
355
+ "square_sum": [
356
+ 862533.1875,
357
+ 959519.8125,
358
+ 1043606.875
359
+ ],
360
+ "count": 2534400
361
+ },
362
+ "observation.images.secondary_0": {
363
+ "max": [
364
+ [
365
+ [
366
+ 0.8588235378265381
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.9254902005195618
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.9803921580314636
377
+ ]
378
+ ]
379
+ ],
380
+ "min": [
381
+ [
382
+ [
383
+ 0.019607843831181526
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.03921568766236305
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.062745101749897
394
+ ]
395
+ ]
396
+ ],
397
+ "mean": [
398
+ [
399
+ [
400
+ 0.5796726542771464
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.6150409860321969
406
+ ]
407
+ ],
408
+ [
409
+ [
410
+ 0.6394509548611111
411
+ ]
412
+ ]
413
+ ],
414
+ "std": [
415
+ [
416
+ [
417
+ 0.1065720080139538
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.1608344673532402
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.20279121371198225
428
+ ]
429
+ ]
430
+ ],
431
+ "sum": [
432
+ 1469122.375,
433
+ 1558759.875,
434
+ 1620624.5
435
+ ],
436
+ "square_sum": [
437
+ 880394.75,
438
+ 1024260.375,
439
+ 1140535.25
440
+ ],
441
+ "count": 2534400
442
+ },
443
+ "observation.images.secondary_1": {
444
+ "max": [
445
+ [
446
+ [
447
+ 1.0
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 1.0
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 1.0
458
+ ]
459
+ ]
460
+ ],
461
+ "min": [
462
+ [
463
+ [
464
+ 0.0941176488995552
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.07058823853731155
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.0784313753247261
475
+ ]
476
+ ]
477
+ ],
478
+ "mean": [
479
+ [
480
+ [
481
+ 0.5378567905618686
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.5292133246527778
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 0.5287378176294192
492
+ ]
493
+ ]
494
+ ],
495
+ "std": [
496
+ [
497
+ [
498
+ 0.13921676145165574
499
+ ]
500
+ ],
501
+ [
502
+ [
503
+ 0.16230423153944618
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.1660010500496006
509
+ ]
510
+ ]
511
+ ],
512
+ "sum": [
513
+ 1363144.25,
514
+ 1341238.25,
515
+ 1340033.125
516
+ ],
517
+ "square_sum": [
518
+ 782296.375,
519
+ 776564.0,
520
+ 778365.0
521
+ ],
522
+ "count": 2534400
523
+ }
524
+ }
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:f1c74588adf583896e622b32dee8f78af9ddded1cb35c97c6fbc871c37253296
3
+ size 26218
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 sha256:1ff97dbe967091f9cc7f54130e90d73676534f54b51bf74e6a8c126b923075b3
3
+ size 27330
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 sha256:93aadccfdd41bd8ecb3382d34baad6282730458bd26f606db0ca87d4822a2f4e
3
+ size 34160