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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 +153 -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
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---
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tags:
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- phosphobot
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- so100
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- phospho-dk
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task_categories:
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- robotics
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---
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# example_dataset_3
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**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
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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.
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:5f5be9a8163c7f9c99f7fc96aadc87b261d0e41e259ff03f0be9e0070788febc
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size 25764
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["None"],"length":302}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state": {"max": [0.4679783928424356, 0.37284835888757983, 0.8607733717528078, 0.39126062352400354, 0.34676431731931295, 1.9470969853018059, 0.6735820146158336, 0.5830550468200837, 0.9789187365031932, 0.3329551188419952, 0.15343553863686413, 2.155769317847941], "min": [-0.7395592962296851, -0.5876581129791897, -1.0341555304124643, -0.18412264636423697, -0.15803860479597007, 0.009206132318211848, -0.727284453138736, -0.9206132318211848, 0.07825212470480071, -1.373248070799934, -0.2991993003418851, 0.17491651404602512], "mean": [0.14287795422337404, -0.10942697454174811, -0.4352488650312206, 0.21512475420404284, 0.0415546116063216, 1.8763286535907795, -0.07342042943183201, -0.4376418497563199, 0.7519306716131533, -0.28796598988075545, -0.07368970372149267, 1.7805940226459407], "std": [0.3862810201458214, 0.21615794588345574, 0.6671171724426322, 0.13160433938143973, 0.0925238941743842, 0.3124779991476227, 0.41150806984775007, 0.5087823031774009, 0.23359811462034283, 0.3585749999645457, 0.14353497721899622, 0.7628908364278354], "count": [302]}, "action": {"max": [0.4679783928424356, 0.37284835888757983, 0.8607733717528078, 0.39126062352400354, 0.34676431731931295, 1.9470969853018059, 0.6735820146158336, 0.5830550468200837, 0.9789187365031932, 0.3329551188419952, 0.15343553863686413, 2.155769317847941], "min": [-0.7395592962296851, -0.5876581129791897, -1.0341555304124643, -0.18412264636423697, -0.15803860479597007, 0.009206132318211848, -0.727284453138736, -0.9206132318211848, 0.07825212470480071, -1.373248070799934, -0.2991993003418851, 0.17491651404602512], "mean": [0.14287795422337404, -0.10942697454174811, -0.4352488650312206, 0.21512475420404284, 0.0415546116063216, 1.8763286535907795, -0.07342042943183201, -0.4376418497563199, 0.7519306716131533, -0.28796598988075545, -0.07368970372149267, 1.7805940226459407], "std": [0.3862810201458214, 0.21615794588345574, 0.6671171724426322, 0.13160433938143973, 0.0925238941743842, 0.3124779991476227, 0.41150806984775007, 0.5087823031774009, 0.23359811462034283, 0.3585749999645457, 0.14353497721899622, 0.7628908364278354], "count": [302]}, "timestamp": {"max": [45.027909541000554], "min": [0.03512462499929825], "mean": [21.807360621073478], "std": [13.134690307277573], "count": [302]}, "frame_index": {"max": [301], "min": [0], "mean": [150.5], "std": [87.17941270735884], "count": [302]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [302]}, "index": {"max": [301], "min": [0], "mean": [150.5], "std": [87.17941270735884], "count": [302]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [302]}, "observation.images.main": {"max": [[[0.8627451062202454]], [[0.8666666746139526]], [[0.8627451062202454]]], "min": [[[0.12941177189350128]], [[0.12941177189350128]], [[0.12941177189350128]]], "mean": [[[0.3377554714679718]], [[0.339375376701355]], [[0.3375621438026428]]], "std": [[[0.11975520849227905]], [[0.11988485604524612]], [[0.11983366310596466]]], "count": [23193600]}, "observation.images.secondary_0": {"max": [[[0.9058823585510254]], [[0.8705882430076599]], [[0.9019607901573181]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.568295955657959]], [[0.5703619122505188]], [[0.5680517554283142]]], "std": [[[0.18296413123607635]], [[0.1764228194952011]], [[0.1735791712999344]]], "count": [23193600]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0117647061124444]], [[0.003921568859368563]]], "mean": [[[0.5532838106155396]], [[0.5340853333473206]], [[0.518456757068634]]], "std": [[[0.2671445608139038]], [[0.2666752338409424]], [[0.2586652338504791]]], "count": [23193600]}}}
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meta/info.json
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{
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"robot_type": "so-100, so-100",
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"codebase_version": "v2.1",
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"total_episodes": 1,
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"total_frames": 302,
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"total_tasks": 1,
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"total_videos": 3,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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12
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],
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"names": [
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6",
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"motor_1_secondary",
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"motor_2_secondary",
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"motor_3_secondary",
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"motor_4_secondary",
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"motor_5_secondary",
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"motor_6_secondary"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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12
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],
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"names": [
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6",
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"motor_1_secondary",
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"motor_2_secondary",
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"motor_3_secondary",
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"motor_4_secondary",
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"motor_5_secondary",
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"motor_6_secondary"
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]
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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],
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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"observation.images.main": {
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"dtype": "video",
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"shape": [
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"names": [
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"height",
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"width",
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"channel"
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"info": {
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"video.fps": 30,
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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}
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}
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meta/tasks.jsonl
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{"task_index":0,"task":"None"}
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videos/chunk-000/observation.images.main/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:76d4d16c92a697a758dce76e1472c65d6693e8f3c02197fbee844b1bb3ba0db2
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size 198136
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videos/chunk-000/observation.images.secondary_0/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 315449
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videos/chunk-000/observation.images.secondary_1/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:9c94871f443cc1d389f4b81abb45cbabc4037a78433c8844c85adc42b5eb930e
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size 386012
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