Upload folder using huggingface_hub
Browse files- README.md +15 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
- data/chunk-000/episode_000011.parquet +3 -0
- meta/episodes.jsonl +12 -0
- meta/info.json +93 -0
- meta/stats.json +166 -0
- meta/tasks.jsonl +1 -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 |
+
# PP-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:f8d9dd04d488ca9995d14f8ad1a8a4c8a72c3b25c74ffd4aac1b02b82690cf00
|
3 |
+
size 28726
|
data/chunk-000/episode_000001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:9797bb88dc7984f8b28dcf9f082bb0467151f4ae99f8585489721d5053c40f6b
|
3 |
+
size 26437
|
data/chunk-000/episode_000002.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:922d50169fcbdec79de04d190b21bce906d9e05d4910b54ff6c28208925a8000
|
3 |
+
size 26441
|
data/chunk-000/episode_000003.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1aa8a4226286c2f3a40880e88dcb208a124088f1f9c05b6ef9bb0dc6bec11691
|
3 |
+
size 24115
|
data/chunk-000/episode_000004.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:fa2e75469b417c488082ba3f90e8a42b040797834175c1816e5d771e7fbf76d8
|
3 |
+
size 28068
|
data/chunk-000/episode_000005.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:f140ccaaae50b406f07c3176578eaba849bd54aef5c67bf2752b5c4a67305251
|
3 |
+
size 29741
|
data/chunk-000/episode_000006.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:7e07de8fcef9c952327aaa2eecb56bb82f07e6f821c2ab70e44513262d54bcf4
|
3 |
+
size 26607
|
data/chunk-000/episode_000007.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:5bdcd0c8842a53b41b945f97d93343fa104333107511003a2cef89a5d029724f
|
3 |
+
size 25789
|
data/chunk-000/episode_000008.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:212ef3fc11417426fedbd655c5d7cfc0b6c4265712059dfc9a41bc6c39b74924
|
3 |
+
size 30847
|
data/chunk-000/episode_000009.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1ced7f21c38666ceefa9a896cb86b31abfc265e1a6eb13766a43b8b79f8f11cf
|
3 |
+
size 27728
|
data/chunk-000/episode_000010.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:6b648d41cc4af8a7a6a54950a98d21d5060f3865dd5c2c9f7da317ee10bf9938
|
3 |
+
size 29599
|
data/chunk-000/episode_000011.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:93fd9d6d2f721c53b93c8c2fd780d43d294b8e8c1fb8b57187dfda6335edfaf2
|
3 |
+
size 7078
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{"episode_index":0,"tasks":["Put the black box in the bowl"],"length":377}
|
2 |
+
{"episode_index":1,"tasks":["Put the black box in the bowl"],"length":371}
|
3 |
+
{"episode_index":2,"tasks":["Put the black box in the bowl"],"length":412}
|
4 |
+
{"episode_index":3,"tasks":["Put the black box in the bowl"],"length":346}
|
5 |
+
{"episode_index":4,"tasks":["Put the black box in the bowl"],"length":441}
|
6 |
+
{"episode_index":5,"tasks":["Put the black box in the bowl"],"length":464}
|
7 |
+
{"episode_index":6,"tasks":["Put the black box in the bowl"],"length":383}
|
8 |
+
{"episode_index":7,"tasks":["Put the black box in the bowl"],"length":380}
|
9 |
+
{"episode_index":8,"tasks":["Put the black box in the bowl"],"length":453}
|
10 |
+
{"episode_index":9,"tasks":["Put the black box in the bowl"],"length":386}
|
11 |
+
{"episode_index":10,"tasks":["Put the black box in the bowl"],"length":409}
|
12 |
+
{"episode_index":11,"tasks":["Put the black box in the bowl"],"length":46}
|
meta/info.json
ADDED
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"robot_type": "so100_follower",
|
3 |
+
"codebase_version": "v2.0",
|
4 |
+
"total_episodes": 12,
|
5 |
+
"total_frames": 4468,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 0,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:12"
|
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 |
+
"shoulder_pan.pos",
|
24 |
+
"shoulder_lift.pos",
|
25 |
+
"elbow_flex.pos",
|
26 |
+
"wrist_flex.pos",
|
27 |
+
"wrist_roll.pos",
|
28 |
+
"gripper.pos"
|
29 |
+
]
|
30 |
+
},
|
31 |
+
"observation.state": {
|
32 |
+
"dtype": "float32",
|
33 |
+
"shape": [
|
34 |
+
6
|
35 |
+
],
|
36 |
+
"names": [
|
37 |
+
"shoulder_pan.pos",
|
38 |
+
"shoulder_lift.pos",
|
39 |
+
"elbow_flex.pos",
|
40 |
+
"wrist_flex.pos",
|
41 |
+
"wrist_roll.pos",
|
42 |
+
"gripper.pos"
|
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.environment_state": {
|
81 |
+
"dtype": "float32",
|
82 |
+
"shape": [
|
83 |
+
4
|
84 |
+
],
|
85 |
+
"names": [
|
86 |
+
"x1",
|
87 |
+
"y1",
|
88 |
+
"x2",
|
89 |
+
"y2"
|
90 |
+
]
|
91 |
+
}
|
92 |
+
}
|
93 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,166 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action": {
|
3 |
+
"mean": [
|
4 |
+
-1.2496587038040161,
|
5 |
+
-42.354122161865234,
|
6 |
+
42.709136962890625,
|
7 |
+
-5.299670219421387,
|
8 |
+
45.553524017333984,
|
9 |
+
11.014505386352539
|
10 |
+
],
|
11 |
+
"std": [
|
12 |
+
29.671812057495117,
|
13 |
+
52.51893997192383,
|
14 |
+
54.092864990234375,
|
15 |
+
6.529770374298096,
|
16 |
+
25.996517181396484,
|
17 |
+
16.82505989074707
|
18 |
+
],
|
19 |
+
"max": [
|
20 |
+
66.26297760009766,
|
21 |
+
56.06585693359375,
|
22 |
+
100.0,
|
23 |
+
9.059828758239746,
|
24 |
+
98.92552185058594,
|
25 |
+
70.19573211669922
|
26 |
+
],
|
27 |
+
"min": [
|
28 |
+
-74.13494873046875,
|
29 |
+
-98.87348175048828,
|
30 |
+
-60.457664489746094,
|
31 |
+
-22.05128288269043,
|
32 |
+
-16.190475463867188,
|
33 |
+
0.0
|
34 |
+
]
|
35 |
+
},
|
36 |
+
"observation.state": {
|
37 |
+
"mean": [
|
38 |
+
-1.351014256477356,
|
39 |
+
-41.17738342285156,
|
40 |
+
43.182525634765625,
|
41 |
+
-5.867341995239258,
|
42 |
+
45.32978439331055,
|
43 |
+
11.314995765686035
|
44 |
+
],
|
45 |
+
"std": [
|
46 |
+
29.69598388671875,
|
47 |
+
53.13701629638672,
|
48 |
+
53.3299446105957,
|
49 |
+
6.447454929351807,
|
50 |
+
25.870716094970703,
|
51 |
+
16.55413055419922
|
52 |
+
],
|
53 |
+
"max": [
|
54 |
+
66.23822021484375,
|
55 |
+
57.345970153808594,
|
56 |
+
100.0,
|
57 |
+
8.815629005432129,
|
58 |
+
98.4859619140625,
|
59 |
+
69.99320983886719
|
60 |
+
],
|
61 |
+
"min": [
|
62 |
+
-74.55012512207031,
|
63 |
+
-97.84575653076172,
|
64 |
+
-58.4787483215332,
|
65 |
+
-21.562881469726562,
|
66 |
+
-16.092796325683594,
|
67 |
+
0.7467752695083618
|
68 |
+
]
|
69 |
+
},
|
70 |
+
"timestamp": {
|
71 |
+
"mean": [
|
72 |
+
6.674239158630371
|
73 |
+
],
|
74 |
+
"std": [
|
75 |
+
3.985715389251709
|
76 |
+
],
|
77 |
+
"max": [
|
78 |
+
15.433333396911621
|
79 |
+
],
|
80 |
+
"min": [
|
81 |
+
0.0
|
82 |
+
]
|
83 |
+
},
|
84 |
+
"frame_index": {
|
85 |
+
"mean": [
|
86 |
+
200.22718811035156
|
87 |
+
],
|
88 |
+
"std": [
|
89 |
+
119.57145690917969
|
90 |
+
],
|
91 |
+
"max": [
|
92 |
+
463.0
|
93 |
+
],
|
94 |
+
"min": [
|
95 |
+
0.0
|
96 |
+
]
|
97 |
+
},
|
98 |
+
"episode_index": {
|
99 |
+
"mean": [
|
100 |
+
5.1407790184021
|
101 |
+
],
|
102 |
+
"std": [
|
103 |
+
3.1680214405059814
|
104 |
+
],
|
105 |
+
"max": [
|
106 |
+
11.0
|
107 |
+
],
|
108 |
+
"min": [
|
109 |
+
0.0
|
110 |
+
]
|
111 |
+
},
|
112 |
+
"index": {
|
113 |
+
"mean": [
|
114 |
+
2233.5
|
115 |
+
],
|
116 |
+
"std": [
|
117 |
+
1289.8004150390625
|
118 |
+
],
|
119 |
+
"max": [
|
120 |
+
4467.0
|
121 |
+
],
|
122 |
+
"min": [
|
123 |
+
0.0
|
124 |
+
]
|
125 |
+
},
|
126 |
+
"task_index": {
|
127 |
+
"mean": [
|
128 |
+
0.0
|
129 |
+
],
|
130 |
+
"std": [
|
131 |
+
0.0
|
132 |
+
],
|
133 |
+
"max": [
|
134 |
+
0.0
|
135 |
+
],
|
136 |
+
"min": [
|
137 |
+
0.0
|
138 |
+
]
|
139 |
+
},
|
140 |
+
"observation.environment_state": {
|
141 |
+
"mean": [
|
142 |
+
0.5100808143615723,
|
143 |
+
0.4611923396587372,
|
144 |
+
0.6076390743255615,
|
145 |
+
0.6334513425827026
|
146 |
+
],
|
147 |
+
"std": [
|
148 |
+
0.2161298394203186,
|
149 |
+
0.155440092086792,
|
150 |
+
0.21642066538333893,
|
151 |
+
0.08455868065357208
|
152 |
+
],
|
153 |
+
"max": [
|
154 |
+
0.7490234375,
|
155 |
+
0.6416015625,
|
156 |
+
0.8359375,
|
157 |
+
0.7783203125
|
158 |
+
],
|
159 |
+
"min": [
|
160 |
+
0.1845703125,
|
161 |
+
0.0,
|
162 |
+
0.2783203125,
|
163 |
+
0.4853515625
|
164 |
+
]
|
165 |
+
}
|
166 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index":0,"task":"Put the black box in the bowl"}
|