Hugging Face's logo

Datasets:
llinguini
/
pick_up_socks_dataset

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dataset card Data Studio Files
xet
Community
llinguini commited on
Commit
57383e9
·
verified ·
1 Parent(s): 49f606a

Upload folder using huggingface_hub

Browse files
Files changed (8) 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 +121 -0
  5. meta/stats.json +347 -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
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
+ # pick_up_socks_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 sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
3
+ size 18030
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["pick up the socks and put it in the bowl"],"length":180}
meta/info.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 180,
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
+ 360,
84
+ 480,
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
+ "observation.images.secondary_0": {
101
+ "dtype": "video",
102
+ "shape": [
103
+ 360,
104
+ 480,
105
+ 3
106
+ ],
107
+ "names": [
108
+ "height",
109
+ "width",
110
+ "channel"
111
+ ],
112
+ "info": {
113
+ "video.fps": 30,
114
+ "video.codec": "mp4v",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ }
120
+ }
121
+ }
meta/stats.json ADDED
@@ -0,0 +1,347 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.20253491100066065,
5
+ 0.6382918407293547,
6
+ 1.4100726000727815,
7
+ -0.1258171416822286,
8
+ 0.8669107932982824,
9
+ 2.194128202507157
10
+ ],
11
+ "min": [
12
+ -0.7073378331159437,
13
+ -1.2520339952768114,
14
+ -0.1963974894551861,
15
+ -1.6448289741871835,
16
+ 0.0966643893412244,
17
+ 0.10126745550033033
18
+ ],
19
+ "mean": [
20
+ -0.15234444147322423,
21
+ -0.16015260555052252,
22
+ 0.9913811119191442,
23
+ -1.0303111177499529,
24
+ 0.4236099495866091,
25
+ 1.165709456400395
26
+ ],
27
+ "std": null,
28
+ "sum": [
29
+ -27.421999465180363,
30
+ -28.82746899909405,
31
+ 178.44860014544597,
32
+ -185.4560011949915,
33
+ 76.24979092558964,
34
+ 209.82770215207108
35
+ ],
36
+ "square_sum": [
37
+ 17.999767925739945,
38
+ 58.00517182707333,
39
+ 205.83067019140142,
40
+ 220.75122736737973,
41
+ 42.68894115845459,
42
+ 428.7582053551475
43
+ ],
44
+ "count": 180
45
+ },
46
+ "action": {
47
+ "max": [
48
+ 0.20253491100066065,
49
+ 0.6382918407293547,
50
+ 1.4100726000727815,
51
+ -0.1258171416822286,
52
+ 0.8669107932982824,
53
+ 2.194128202507157
54
+ ],
55
+ "min": [
56
+ -0.7073378331159437,
57
+ -1.2520339952768114,
58
+ -0.1963974894551861,
59
+ -1.6448289741871835,
60
+ 0.0966643893412244,
61
+ 0.10126745550033033
62
+ ],
63
+ "mean": [
64
+ -0.15234444147322423,
65
+ -0.16015260555052252,
66
+ 0.9913811119191442,
67
+ -1.0303111177499529,
68
+ 0.4236099495866091,
69
+ 1.165709456400395
70
+ ],
71
+ "std": null,
72
+ "sum": [
73
+ -27.421999465180363,
74
+ -28.82746899909405,
75
+ 178.44860014544597,
76
+ -185.4560011949915,
77
+ 76.24979092558964,
78
+ 209.82770215207108
79
+ ],
80
+ "square_sum": [
81
+ 17.999767925739945,
82
+ 58.00517182707333,
83
+ 205.83067019140142,
84
+ 220.75122736737973,
85
+ 42.68894115845459,
86
+ 428.7582053551475
87
+ ],
88
+ "count": 180
89
+ },
90
+ "timestamp": {
91
+ "max": [
92
+ 11.551402084000074
93
+ ],
94
+ "min": [
95
+ 0.03755504199943971
96
+ ],
97
+ "mean": [
98
+ 5.760818555455348
99
+ ],
100
+ "std": null,
101
+ "sum": [
102
+ 1036.9473399819626
103
+ ],
104
+ "square_sum": [
105
+ 7985.792879997884
106
+ ],
107
+ "count": 180
108
+ },
109
+ "frame_index": {
110
+ "max": [
111
+ 179
112
+ ],
113
+ "min": [
114
+ 0
115
+ ],
116
+ "mean": [
117
+ 89.5
118
+ ],
119
+ "std": null,
120
+ "sum": [
121
+ 16110
122
+ ],
123
+ "square_sum": [
124
+ 1927830
125
+ ],
126
+ "count": 180
127
+ },
128
+ "episode_index": {
129
+ "max": [
130
+ 0
131
+ ],
132
+ "min": [
133
+ 0
134
+ ],
135
+ "mean": [
136
+ 0.0
137
+ ],
138
+ "std": null,
139
+ "sum": [
140
+ 0
141
+ ],
142
+ "square_sum": [
143
+ 0
144
+ ],
145
+ "count": 180
146
+ },
147
+ "index": {
148
+ "max": [
149
+ 179
150
+ ],
151
+ "min": [
152
+ 0
153
+ ],
154
+ "mean": [
155
+ 89.5
156
+ ],
157
+ "std": null,
158
+ "sum": [
159
+ 16110
160
+ ],
161
+ "square_sum": [
162
+ 1927830
163
+ ],
164
+ "count": 180
165
+ },
166
+ "task_index": {
167
+ "max": [
168
+ 0
169
+ ],
170
+ "min": [
171
+ 0
172
+ ],
173
+ "mean": [
174
+ 0.0
175
+ ],
176
+ "std": null,
177
+ "sum": [
178
+ 0
179
+ ],
180
+ "square_sum": [
181
+ 0
182
+ ],
183
+ "count": 180
184
+ },
185
+ "observation.images.main": {
186
+ "max": [
187
+ [
188
+ [
189
+ 1.0
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 1.0
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 1.0
200
+ ]
201
+ ]
202
+ ],
203
+ "min": [
204
+ [
205
+ [
206
+ 0.05882352963089943
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 0.054901961237192154
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.003921568859368563
217
+ ]
218
+ ]
219
+ ],
220
+ "mean": [
221
+ [
222
+ [
223
+ 0.6065621141975308
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.5409869470164609
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.46259375
234
+ ]
235
+ ]
236
+ ],
237
+ "std": [
238
+ [
239
+ [
240
+ 0.19627363983030957
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.18613162051004045
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.18065941872229468
251
+ ]
252
+ ]
253
+ ],
254
+ "sum": [
255
+ 18866508.0,
256
+ 16826858.0,
257
+ 14388516.0
258
+ ],
259
+ "square_sum": [
260
+ 12641939.0,
261
+ 10180708.0,
262
+ 7671204.5
263
+ ],
264
+ "count": 31104000
265
+ },
266
+ "observation.images.secondary_0": {
267
+ "max": [
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 1.0
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.9843137264251709
281
+ ]
282
+ ]
283
+ ],
284
+ "min": [
285
+ [
286
+ [
287
+ 0.0
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ]
300
+ ],
301
+ "mean": [
302
+ [
303
+ [
304
+ 0.6022609953703704
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.5593610468106995
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.4936482767489712
315
+ ]
316
+ ]
317
+ ],
318
+ "std": [
319
+ [
320
+ [
321
+ 0.22063668985045448
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.2014523193087419
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.20699268703065404
332
+ ]
333
+ ]
334
+ ],
335
+ "sum": [
336
+ 18732726.0,
337
+ 17398366.0,
338
+ 15354436.0
339
+ ],
340
+ "square_sum": [
341
+ 12796150.0,
342
+ 10994263.0,
343
+ 8912372.0
344
+ ],
345
+ "count": 31104000
346
+ }
347
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"pick up the socks and put it in the bowl"}
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:aea5a30eeb0c9a4e9c4c412526fdda3a986b238fb68c03604d6650adf065b738
3
+ size 529620
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 sha256:5ef7fb09edb9dae6a5b536199db996c8a887e8ec8406472d51a623895d341825
3
+ size 828500