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Datasets:
jccj
/
shape_matching

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk
Libraries:
Datasets
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  1. README.md +9 -157
  2. data/chunk-000/episode_000000.parquet +2 -2
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README.md CHANGED
@@ -1,165 +1,17 @@
 
1
  ---
2
- license: apache-2.0
3
- task_categories:
4
- - robotics
5
  tags:
6
- - LeRobot
7
- - lerobot
8
  - so100
9
- - match_shape
10
- configs:
11
- - config_name: default
12
- data_files: data/*/*.parquet
13
  ---
14
 
15
- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
16
-
17
- ## Dataset Description
18
-
19
-
20
-
21
- - **Homepage:** [More Information Needed]
22
- - **Paper:** [More Information Needed]
23
- - **License:** apache-2.0
24
-
25
- ## Dataset Structure
26
-
27
- [meta/info.json](meta/info.json):
28
- ```json
29
- {
30
- "codebase_version": "v2.1",
31
- "robot_type": "so100_follower",
32
- "total_episodes": 55,
33
- "total_frames": 26843,
34
- "total_tasks": 1,
35
- "total_videos": 110,
36
- "total_chunks": 1,
37
- "chunks_size": 1000,
38
- "fps": 30,
39
- "splits": {
40
- "train": "0:55"
41
- },
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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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- 6
49
- ],
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- "names": [
51
- "shoulder_pan.pos",
52
- "shoulder_lift.pos",
53
- "elbow_flex.pos",
54
- "wrist_flex.pos",
55
- "wrist_roll.pos",
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- "gripper.pos"
57
- ]
58
- },
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- "observation.state": {
60
- "dtype": "float32",
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- "shape": [
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- 6
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- ],
64
- "names": [
65
- "shoulder_pan.pos",
66
- "shoulder_lift.pos",
67
- "elbow_flex.pos",
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- "wrist_flex.pos",
69
- "wrist_roll.pos",
70
- "gripper.pos"
71
- ]
72
- },
73
- "observation.images.top": {
74
- "dtype": "video",
75
- "shape": [
76
- 480,
77
- 640,
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- 3
79
- ],
80
- "names": [
81
- "height",
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- "width",
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- "channels"
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- ],
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- "info": {
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- "video.height": 480,
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- "video.width": 640,
88
- "video.codec": "av1",
89
- "video.pix_fmt": "yuv420p",
90
- "video.is_depth_map": false,
91
- "video.fps": 30,
92
- "video.channels": 3,
93
- "has_audio": false
94
- }
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- },
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- "observation.images.wrist_left": {
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- "dtype": "video",
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- "shape": [
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- 480,
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- 640,
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- 3
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- ],
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- "names": [
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- "height",
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- "width",
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- "channels"
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- ],
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- "info": {
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- "video.height": 480,
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- "video.width": 640,
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- "video.codec": "av1",
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- "video.pix_fmt": "yuv420p",
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- "video.is_depth_map": false,
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- "video.fps": 30,
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- "video.channels": 3,
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- "has_audio": false
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- }
118
- },
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- "timestamp": {
120
- "dtype": "float32",
121
- "shape": [
122
- 1
123
- ],
124
- "names": null
125
- },
126
- "frame_index": {
127
- "dtype": "int64",
128
- "shape": [
129
- 1
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- ],
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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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- 1
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- ],
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- "names": null
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- },
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- "index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
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- "names": null
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- },
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- "task_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
152
- "names": null
153
- }
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- }
155
- }
156
- ```
157
-
158
 
159
- ## Citation
160
 
161
- **BibTeX:**
162
 
163
- ```bibtex
164
- [More Information Needed]
165
- ```
 
1
+
2
  ---
 
 
 
3
  tags:
4
+ - phosphobot
 
5
  - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
 
9
  ---
10
 
11
+ # shape_matching
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
12
 
13
+ **This dataset was generated using the [phospho cli](https://github.com/phospho-app/phosphobot)**
14
 
15
+ More information on [robots.phospho.ai](https://robots.phospho.ai).
16
 
17
+ 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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