Hugging Face's logo

Datasets:
juniorlabs
/
unity_dataset

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
pandas
Dataset card Data Studio Files
xet
Community
1
PLB commited on
Commit
4566160
·
verified ·
1 Parent(s): 1f42a4b

Upload folder using huggingface_hub

Browse files
Files changed (15) hide show
  1. README.md +13 -27
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. data/chunk-000/episode_000001.parquet +3 -0
  4. data/chunk-000/episode_000002.parquet +3 -0
  5. data/chunk-000/episode_000003.parquet +3 -0
  6. data/chunk-000/episode_000004.parquet +3 -0
  7. meta/episodes.jsonl +16 -0
  8. meta/info.json +122 -0
  9. meta/stats.json +274 -0
  10. meta/tasks.jsonl +1 -0
  11. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.main/episode_000001.mp4 +3 -0
  13. videos/chunk-000/observation.images.main/episode_000002.mp4 +3 -0
  14. videos/chunk-000/observation.images.main/episode_000003.mp4 +3 -0
  15. videos/chunk-000/observation.images.main/episode_000004.mp4 +3 -0
README.md CHANGED
@@ -1,29 +1,15 @@
 
1
  ---
2
- dataset_info:
3
- features:
4
- - name: action
5
- sequence: float64
6
- - name: observation.state
7
- sequence: float64
8
- - name: timestamp
9
- dtype: float64
10
- - name: task_index
11
- dtype: int64
12
- - name: episode_index
13
- dtype: int64
14
- - name: frame_index
15
- dtype: int64
16
- - name: index
17
- dtype: int64
18
- splits:
19
- - name: train
20
- num_bytes: 9648
21
- num_examples: 67
22
- download_size: 8109
23
- dataset_size: 9648
24
- configs:
25
- - config_name: default
26
- data_files:
27
- - split: train
28
- path: data/train-*
29
  ---
 
 
 
 
 
 
 
1
+
2
  ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk1
7
+ task_categories:
8
+ - robotics
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
9
  ---
10
+
11
+ # A dataset generated using a phospho dev kit
12
+
13
+ This dataset was generated using a [phospho dev kit](https://robots.phospho.ai). It contains a series of episodes recorded with a robot and multiple cameras.
14
+ It can be directly used to train a policy using imitation learning.
15
+ 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:f5d899a216286ce259baa94a1f5bf5c42c619c138c298bb1fa41a82823d46267
3
+ size 6587
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9fee01f603eb9a2f982d338ae268369eb70bd3413840d529a4d8d7e58973f6f
3
+ size 6842
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ce8a93e14a1731b94f75d2a361bf6af711e3aaa7759edf1960ad0726bd6c083
3
+ size 5867
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c935f8747cd9f5839dd8cf94f2297af6243c42f280e8c55f5c48aee2be03c39
3
+ size 5648
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06ec83f241e741386594304b6dbda7d6f4ef5e10068b349c0426a21475ab50fc
3
+ size 5771
meta/episodes.jsonl ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index":0,"tasks":["None"],"length":21}
2
+ {"episode_index":0,"tasks":["None"],"length":45}
3
+ {"episode_index":0,"tasks":["None"],"length":33}
4
+ {"episode_index":0,"tasks":["None"],"length":45}
5
+ {"episode_index":0,"tasks":["None"],"length":31}
6
+ {"episode_index":0,"tasks":["None"],"length":45}
7
+ {"episode_index":0,"tasks":["None"],"length":33}
8
+ {"episode_index":0,"tasks":["None"],"length":45}
9
+ {"episode_index":0,"tasks":["None"],"length":32}
10
+ {"episode_index":0,"tasks":["None"],"length":45}
11
+ {"episode_index":0,"tasks":["None"],"length":33}
12
+ {"episode_index":0,"tasks":["None"],"length":45}
13
+ {"episode_index":0,"tasks":["None"],"length":31}
14
+ {"episode_index":0,"tasks":["None"],"length":45}
15
+ {"episode_index":0,"tasks":["None"],"length":33}
16
+ {"episode_index":0,"tasks":["None"],"length":45}
meta/info.json ADDED
@@ -0,0 +1,122 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 8,
5
+ "total_frames": 78,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:8"
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
+ "episode_index": {
32
+ "dtype": "int64",
33
+ "shape": [
34
+ 1
35
+ ],
36
+ "names": null
37
+ },
38
+ "frame_index": {
39
+ "dtype": "int64",
40
+ "shape": [
41
+ 1
42
+ ],
43
+ "names": null
44
+ },
45
+ "timestamp": {
46
+ "dtype": "int64",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "next_reward": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "next_done": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "next_success": {
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
+ "task_index": {
81
+ "dtype": "int64",
82
+ "shape": [
83
+ 1
84
+ ],
85
+ "names": null
86
+ },
87
+ "observation.state": {
88
+ "dtype": "float32",
89
+ "shape": [
90
+ 6
91
+ ],
92
+ "names": [
93
+ "motor_1",
94
+ "motor_2",
95
+ "motor_3",
96
+ "motor_4",
97
+ "motor_5",
98
+ "motor_6"
99
+ ]
100
+ },
101
+ "observation.images.main": {
102
+ "dtype": "video",
103
+ "shape": [
104
+ 480,
105
+ 640,
106
+ 3
107
+ ],
108
+ "names": [
109
+ "height",
110
+ "width",
111
+ "channel"
112
+ ],
113
+ "info": {
114
+ "video_fps": 10,
115
+ "video_codec": "av1",
116
+ "video_pix_fmt": "yuv420p",
117
+ "video_is_depth_map": false,
118
+ "has_audio": false
119
+ }
120
+ }
121
+ }
122
+ }
meta/stats.json ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation_state": {
3
+ "max": [
4
+ 0.5462305175472363,
5
+ 0.3237489865237833,
6
+ 0.06751163700022023,
7
+ 0.8484985286618587,
8
+ 0.2117410433188725,
9
+ 3.593460314875358
10
+ ],
11
+ "min": [
12
+ -0.3559704496375248,
13
+ -0.6521010392066726,
14
+ -0.3114741434328342,
15
+ -0.2270845971825589,
16
+ -0.08592390163664392,
17
+ 1.796730157437679
18
+ ],
19
+ "mean": [
20
+ 0.060429996755441875,
21
+ -0.2668794811136328,
22
+ -0.11338492880806211,
23
+ 0.46252946409853707,
24
+ 0.08535343617248123,
25
+ 2.2596923884400613
26
+ ],
27
+ "std": [
28
+ 0.20522559128011725,
29
+ 0.1614615401780766,
30
+ 0.10588323299468133,
31
+ NaN,
32
+ 0.03862986952499766,
33
+ NaN
34
+ ],
35
+ "sum": [
36
+ 4.713539746924466,
37
+ -20.81659952686336,
38
+ -8.844024447028845,
39
+ 36.07729819968589,
40
+ 6.657568021453536,
41
+ 176.2560062983248
42
+ ],
43
+ "square_sum": [
44
+ 3.5700075702826433,
45
+ 7.588969938900366,
46
+ 1.8772572865967925,
47
+ 15.636617713981241,
48
+ 0.6846431191055172,
49
+ 252.4375765456969
50
+ ],
51
+ "count": 78
52
+ },
53
+ "action": {
54
+ "max": [
55
+ 0.5462305175472363,
56
+ 0.3237489865237833,
57
+ 0.06751163700022023,
58
+ 0.8484985286618587,
59
+ 0.2117410433188725,
60
+ 1.8044019343695221
61
+ ],
62
+ "min": [
63
+ -0.18258829097786833,
64
+ -0.6521010392066726,
65
+ -0.3114741434328342,
66
+ -0.2270845971825589,
67
+ -0.08592390163664392,
68
+ 1.796730157437679
69
+ ],
70
+ "mean": [
71
+ 0.060429996755441875,
72
+ -0.2668794811136328,
73
+ -0.11338492880806211,
74
+ 0.46252946409853707,
75
+ 0.08535343617248123,
76
+ 2.2596923884400613
77
+ ],
78
+ "std": [
79
+ 0.20522559128011725,
80
+ 0.1614615401780766,
81
+ 0.10588323299468133,
82
+ NaN,
83
+ 0.03862986952499766,
84
+ NaN
85
+ ],
86
+ "sum": [
87
+ 4.713539746924466,
88
+ -20.81659952686336,
89
+ -8.844024447028845,
90
+ 36.07729819968589,
91
+ 6.657568021453536,
92
+ 176.2560062983248
93
+ ],
94
+ "square_sum": [
95
+ 3.5700075702826433,
96
+ 7.588969938900366,
97
+ 1.8772572865967925,
98
+ 15.636617713981241,
99
+ 0.6846431191055172,
100
+ 252.4375765456969
101
+ ],
102
+ "count": 78
103
+ },
104
+ "timestamp": {
105
+ "max": [
106
+ 2.672719833004521
107
+ ],
108
+ "min": [
109
+ 0.005051082989666611
110
+ ],
111
+ "mean": [
112
+ 0.9772839727169739
113
+ ],
114
+ "std": [
115
+ 0.7135258089841885
116
+ ],
117
+ "sum": [
118
+ 76.22814987192396
119
+ ],
120
+ "square_sum": [
121
+ 114.2078373864489
122
+ ],
123
+ "count": 78
124
+ },
125
+ "frame_index": {
126
+ "max": [
127
+ 78
128
+ ],
129
+ "min": [
130
+ 1
131
+ ],
132
+ "mean": [
133
+ 39.5
134
+ ],
135
+ "std": [
136
+ 22.514809940718276
137
+ ],
138
+ "sum": [
139
+ 3081
140
+ ],
141
+ "square_sum": [
142
+ 161239
143
+ ],
144
+ "count": 78
145
+ },
146
+ "episode_index": {
147
+ "max": [
148
+ 0
149
+ ],
150
+ "min": [
151
+ 0
152
+ ],
153
+ "mean": [
154
+ 0.0
155
+ ],
156
+ "std": [
157
+ 0.0
158
+ ],
159
+ "sum": [
160
+ 0
161
+ ],
162
+ "square_sum": [
163
+ 0
164
+ ],
165
+ "count": 78
166
+ },
167
+ "index": {
168
+ "max": [
169
+ 78
170
+ ],
171
+ "min": [
172
+ 1
173
+ ],
174
+ "mean": [
175
+ 39.5
176
+ ],
177
+ "std": [
178
+ 22.514809940718276
179
+ ],
180
+ "sum": [
181
+ 3081
182
+ ],
183
+ "square_sum": [
184
+ 161239
185
+ ],
186
+ "count": 78
187
+ },
188
+ "task_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "sum": [
202
+ 0
203
+ ],
204
+ "square_sum": [
205
+ 0
206
+ ],
207
+ "count": 78
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 255
214
+ ],
215
+ [
216
+ 255
217
+ ],
218
+ [
219
+ 255
220
+ ]
221
+ ]
222
+ ],
223
+ "min": [
224
+ [
225
+ [
226
+ 5
227
+ ],
228
+ [
229
+ 3
230
+ ],
231
+ [
232
+ 0
233
+ ]
234
+ ]
235
+ ],
236
+ "mean": [
237
+ [
238
+ [
239
+ 142.44916133996213
240
+ ],
241
+ [
242
+ 129.41897431344697
243
+ ],
244
+ [
245
+ 111.7759013967803
246
+ ]
247
+ ]
248
+ ],
249
+ "std": [
250
+ [
251
+ [
252
+ 60.27308764915756
253
+ ],
254
+ [
255
+ 57.79569915838452
256
+ ],
257
+ [
258
+ 53.417503086488544
259
+ ]
260
+ ]
261
+ ],
262
+ "sum": [
263
+ 481364206,
264
+ 437332598,
265
+ 377713126
266
+ ],
267
+ "square_sum": [
268
+ 80846037588,
269
+ 67886822796,
270
+ 51861534554
271
+ ],
272
+ "count": 3379200
273
+ }
274
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"language_instruction":"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 sha256:435a3b21f4a4f406db33b8e3d8ab7af7a6475bd1ebcce0509066574011795d60
3
+ size 1781963
videos/chunk-000/observation.images.main/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db5dccc9ebf2cfa51b40157aa88ea2efd5deecae6cfe15b1b5b3b14fda974cee
3
+ size 1999943
videos/chunk-000/observation.images.main/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d5846846e3a1bb9b24cbfeae5859970b85c1fcc3b2cc61411a3c93e5dbdb6e94
3
+ size 980805
videos/chunk-000/observation.images.main/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c613c92c8f152556cad13d00377c31ff621c141d51e262ac5038e465a303613
3
+ size 813068
videos/chunk-000/observation.images.main/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e22a1b0a00a79b81bcc54c063ea1b71de7a3288e1fffb79f62845a1a6c1934ad
3
+ size 870117