Hugging Face's logo

Datasets:
AliKAgha
/
bubble_wrap_pick

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dataset card Data Studio Files Community
1
AliKAgha commited on
Commit
8367c6c
·
verified ·
1 Parent(s): 9cad270

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 +133 -0
  5. meta/stats.json +407 -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
+ # bubble_wrap_pick
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 sha256:1e8c4888e8e23dfd25d837ab94d59184dd62d2755f6f9ec14e6227f740ca167c
3
+ size 60473
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up bubble wrap and place it into the box"],"length":872}
meta/info.json ADDED
@@ -0,0 +1,133 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 872,
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
+ 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
+ }
133
+ }
meta/stats.json ADDED
@@ -0,0 +1,407 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 1.600332667982493,
5
+ 0.15803860479597007,
6
+ 1.6862565696191367,
7
+ 0.8116739993890113,
8
+ 0.26544348184177496,
9
+ 0.8776512810028628,
10
+ 1.5880578248915438,
11
+ 0.16877909250055054,
12
+ 1.6923939911646113,
13
+ 0.8101396440026426,
14
+ 0.2639091264554063,
15
+ 0.8669107932982824
16
+ ],
17
+ "min": [
18
+ -1.5880578248915438,
19
+ -1.7829209589603612,
20
+ 0.023015330795529622,
21
+ -0.34983302809205025,
22
+ -0.2715809033872495,
23
+ -0.0260840415682669,
24
+ -1.5757829818005946,
25
+ -1.7675774050966748,
26
+ 0.09206132318211849,
27
+ -0.3176115649783088,
28
+ -0.2593060602963004,
29
+ 0.0030687107727372827
30
+ ],
31
+ "mean": [
32
+ -0.13463968515384794,
33
+ -0.8073436684189947,
34
+ 0.6863301852284949,
35
+ 0.2412562695240858,
36
+ -0.0019636933614533897,
37
+ 0.20562649633764396,
38
+ -0.1335909743622476,
39
+ -0.7839570658499282,
40
+ 0.7105877808207872,
41
+ 0.2503480290210683,
42
+ 0.0005173170683397705,
43
+ 0.21041959733818147
44
+ ],
45
+ "std": null,
46
+ "sum": [
47
+ -117.4058054541554,
48
+ -704.0036788613634,
49
+ 598.4799215192476,
50
+ 210.37546702500282,
51
+ -1.7123406111873558,
52
+ 179.30630480642554,
53
+ -116.4913296438799,
54
+ -683.6105614211374,
55
+ 619.6325448757265,
56
+ 218.30348130637157,
57
+ 0.45110048359227983,
58
+ 183.48588887889423
59
+ ],
60
+ "square_sum": [
61
+ 1313.8212794713447,
62
+ 884.6858155393021,
63
+ 599.208120415443,
64
+ 118.65482160838793,
65
+ 5.979960201500757,
66
+ 107.08731877518433,
67
+ 1305.6038764016262,
68
+ 862.1709395764888,
69
+ 621.4339773126187,
70
+ 121.69455635364855,
71
+ 6.226280299246858,
72
+ 105.1068984090749
73
+ ],
74
+ "count": 872
75
+ },
76
+ "action": {
77
+ "max": [
78
+ 1.600332667982493,
79
+ 0.15803860479597007,
80
+ 1.6862565696191367,
81
+ 0.8116739993890113,
82
+ 0.26544348184177496,
83
+ 0.8776512810028628,
84
+ 1.5880578248915438,
85
+ 0.16877909250055054,
86
+ 1.6923939911646113,
87
+ 0.8101396440026426,
88
+ 0.2639091264554063,
89
+ 0.8669107932982824
90
+ ],
91
+ "min": [
92
+ -1.5880578248915438,
93
+ -1.7829209589603612,
94
+ 0.023015330795529622,
95
+ -0.34983302809205025,
96
+ -0.2715809033872495,
97
+ -0.0260840415682669,
98
+ -1.5757829818005946,
99
+ -1.7675774050966748,
100
+ 0.09206132318211849,
101
+ -0.3176115649783088,
102
+ -0.2593060602963004,
103
+ 0.0030687107727372827
104
+ ],
105
+ "mean": [
106
+ -0.13463968515384794,
107
+ -0.8073436684189947,
108
+ 0.6863301852284949,
109
+ 0.2412562695240858,
110
+ -0.0019636933614533897,
111
+ 0.20562649633764396,
112
+ -0.1335909743622476,
113
+ -0.7839570658499282,
114
+ 0.7105877808207872,
115
+ 0.2503480290210683,
116
+ 0.0005173170683397705,
117
+ 0.21041959733818147
118
+ ],
119
+ "std": null,
120
+ "sum": [
121
+ -117.4058054541554,
122
+ -704.0036788613634,
123
+ 598.4799215192476,
124
+ 210.37546702500282,
125
+ -1.7123406111873558,
126
+ 179.30630480642554,
127
+ -116.4913296438799,
128
+ -683.6105614211374,
129
+ 619.6325448757265,
130
+ 218.30348130637157,
131
+ 0.45110048359227983,
132
+ 183.48588887889423
133
+ ],
134
+ "square_sum": [
135
+ 1313.8212794713447,
136
+ 884.6858155393021,
137
+ 599.208120415443,
138
+ 118.65482160838793,
139
+ 5.979960201500757,
140
+ 107.08731877518433,
141
+ 1305.6038764016262,
142
+ 862.1709395764888,
143
+ 621.4339773126187,
144
+ 121.69455635364855,
145
+ 6.226280299246858,
146
+ 105.1068984090749
147
+ ],
148
+ "count": 872
149
+ },
150
+ "timestamp": {
151
+ "max": [
152
+ 62.72408575005829
153
+ ],
154
+ "min": [
155
+ 0.06690345890820026
156
+ ],
157
+ "mean": [
158
+ 31.292969128140996
159
+ ],
160
+ "std": null,
161
+ "sum": [
162
+ 27287.46907973895
163
+ ],
164
+ "square_sum": [
165
+ 1137806.9163074375
166
+ ],
167
+ "count": 872
168
+ },
169
+ "frame_index": {
170
+ "max": [
171
+ 871
172
+ ],
173
+ "min": [
174
+ 0
175
+ ],
176
+ "mean": [
177
+ 435.5
178
+ ],
179
+ "std": null,
180
+ "sum": [
181
+ 379756
182
+ ],
183
+ "square_sum": [
184
+ 220638236
185
+ ],
186
+ "count": 872
187
+ },
188
+ "episode_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": null,
199
+ "sum": [
200
+ 0
201
+ ],
202
+ "square_sum": [
203
+ 0
204
+ ],
205
+ "count": 872
206
+ },
207
+ "index": {
208
+ "max": [
209
+ 871
210
+ ],
211
+ "min": [
212
+ 0
213
+ ],
214
+ "mean": [
215
+ 435.5
216
+ ],
217
+ "std": null,
218
+ "sum": [
219
+ 379756
220
+ ],
221
+ "square_sum": [
222
+ 220638236
223
+ ],
224
+ "count": 872
225
+ },
226
+ "task_index": {
227
+ "max": [
228
+ 0
229
+ ],
230
+ "min": [
231
+ 0
232
+ ],
233
+ "mean": [
234
+ 0.0
235
+ ],
236
+ "std": null,
237
+ "sum": [
238
+ 0
239
+ ],
240
+ "square_sum": [
241
+ 0
242
+ ],
243
+ "count": 872
244
+ },
245
+ "observation.images.main": {
246
+ "max": [
247
+ [
248
+ [
249
+ 1.0
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 1.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ]
262
+ ],
263
+ "min": [
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ],
269
+ [
270
+ [
271
+ 0.0
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.0
277
+ ]
278
+ ]
279
+ ],
280
+ "mean": [
281
+ [
282
+ [
283
+ 0.5565903335244649
284
+ ]
285
+ ],
286
+ [
287
+ [
288
+ 0.5494335340214067
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.5350972978784404
294
+ ]
295
+ ]
296
+ ],
297
+ "std": [
298
+ [
299
+ [
300
+ 0.24475968491625702
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.2628554036600115
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.2844615076083878
311
+ ]
312
+ ]
313
+ ],
314
+ "sum": [
315
+ 37274632.0,
316
+ 36795344.0,
317
+ 35835252.0
318
+ ],
319
+ "square_sum": [
320
+ 24758668.0,
321
+ 24843724.0,
322
+ 24594416.0
323
+ ],
324
+ "count": 66969600
325
+ },
326
+ "observation.images.secondary_0": {
327
+ "max": [
328
+ [
329
+ [
330
+ 1.0
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ]
343
+ ],
344
+ "min": [
345
+ [
346
+ [
347
+ 0.027450980618596077
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.0117647061124444
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.0
358
+ ]
359
+ ]
360
+ ],
361
+ "mean": [
362
+ [
363
+ [
364
+ 0.5543286506116208
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.4737496117641437
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.43534018420298165
375
+ ]
376
+ ]
377
+ ],
378
+ "std": [
379
+ [
380
+ [
381
+ 0.17009215627307905
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.18965018061922362
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 0.17617752753538393
392
+ ]
393
+ ]
394
+ ],
395
+ "sum": [
396
+ 37123168.0,
397
+ 31726822.0,
398
+ 29154558.0
399
+ ],
400
+ "square_sum": [
401
+ 22515956.0,
402
+ 17439278.0,
403
+ 14770788.0
404
+ ],
405
+ "count": 66969600
406
+ }
407
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up bubble wrap and place it into the box"}
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 sha256:4fb86b8f2c53b8682ecd9b009544e87257298997b5727c69cae4bbafcdeb54e7
3
+ size 2009199
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:a1d71ecabc1a6f326d3d8296ffd12fc3c38264cc55b35ca65a9245eec3462608
3
+ size 2318685