diff --git a/README.md b/README.md index 361bfcd10c5b346cb6ea6b8fe42bd9cb9e3a75e6..4cca14cd3650d08db777cfc99021062a97a4ef4e 100644 --- a/README.md +++ b/README.md @@ -1,165 +1,17 @@ + --- -license: apache-2.0 -task_categories: -- robotics tags: -- LeRobot -- lerobot +- phosphobot - so100 -- match_shape -configs: -- config_name: default - data_files: data/*/*.parquet +- phospho-dk +task_categories: +- robotics --- -This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). - -## Dataset Description - - - -- **Homepage:** [More Information Needed] -- **Paper:** [More Information Needed] -- **License:** apache-2.0 - -## Dataset Structure - -[meta/info.json](meta/info.json): -```json -{ - "codebase_version": "v2.1", - "robot_type": "so100_follower", - "total_episodes": 55, - "total_frames": 26843, - "total_tasks": 1, - "total_videos": 110, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30, - "splits": { - "train": "0:55" - }, - "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", - "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", - "features": { - "action": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": [ - "shoulder_pan.pos", - "shoulder_lift.pos", - "elbow_flex.pos", - "wrist_flex.pos", - "wrist_roll.pos", - "gripper.pos" - ] - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": [ - "shoulder_pan.pos", - "shoulder_lift.pos", - "elbow_flex.pos", - "wrist_flex.pos", - "wrist_roll.pos", - "gripper.pos" - ] - }, - "observation.images.top": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.wrist_left": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - } - } -} -``` - +# shape_matching -## Citation +**This dataset was generated using the [phospho cli](https://github.com/phospho-app/phosphobot)** -**BibTeX:** +More information on [robots.phospho.ai](https://robots.phospho.ai). -```bibtex -[More Information Needed] -``` \ No newline at end of file +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. 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