Upload folder using huggingface_hub

.debug/fix_converting.py

@@ -0,0 +1,41 @@
+import json
+import numpy as np
+import copy
+
+# Load stats file
+stats_file = "../meta/stats.json"
+with open(stats_file, 'r') as f:
+    stats = json.load(f)
+
+print("Fixing stats.json file...")
+
+# Create a deep copy to modify
+fixed_stats = copy.deepcopy(stats)
+
+# Fix all None std values
+for key in fixed_stats:
+    if "std" in fixed_stats[key] and fixed_stats[key]["std"] is None:
+        # Use matching shape from mean if possible
+        if "mean" in fixed_stats[key]:
+            mean = fixed_stats[key]["mean"]
+            if isinstance(mean, list):
+                # Create a ones array with same shape as mean
+                fixed_stats[key]["std"] = [1.0] * len(mean)
+            else:
+                # Fallback to scalar
+                fixed_stats[key]["std"] = [1.0]
+        else:
+            # No mean to reference, use default
+            fixed_stats[key]["std"] = [1.0]
+        
+        print(f"Fixed {key}.std: None → {fixed_stats[key]['std']}")
+
+# Save the fixed stats file
+output_file = "../meta/stats_fixed.json"
+with open(output_file, 'w') as f:
+    json.dump(fixed_stats, f, indent=2)
+
+print(f"\nFIXED! New stats file saved to: {output_file}")
+print("\nTo use this fixed file:")
+print("1. Rename the original file as a backup: mv ../meta/stats.json ../meta/stats.json.bak")
+print("2. Replace with fixed version: mv ../meta/stats_fixed.json ../meta/stats.json")

.debug/test.py

@@ -0,0 +1,74 @@
+import numpy as np
+import json
+import torch
+
+# Load stats file
+stats_file = "../meta/stats.json"
+with open(stats_file, 'r') as f:
+    stats = json.load(f)
+
+print("Keys in stats file:", list(stats.keys()))
+
+# Check each field more thoroughly by simulating the torch conversion
+problem_found = False
+for key in stats:
+    print(f"\nExamining key: {key}")
+    for stat_type in ["mean", "std"]:
+        if stat_type in stats[key]:
+            value = stats[key][stat_type]
+            print(f"  - {stat_type} type: {type(value)}")
+            
+            try:
+                # Try converting to numpy array (this is what the code does)
+                numpy_val = np.array(value)
+                print(f"    NumPy array shape: {numpy_val.shape}, dtype: {numpy_val.dtype}")
+                
+                # Test if this can be converted to torch tensor
+                try:
+                    torch_val = torch.from_numpy(numpy_val).to(dtype=torch.float32)
+                    print(f"    ✓ Successfully converted to torch tensor")
+                except Exception as e:
+                    print(f"    ✗ ERROR converting to torch tensor: {type(e).__name__}: {e}")
+                    print(f"    Value: {numpy_val}")
+                    problem_found = True
+            except Exception as e:
+                print(f"    ✗ ERROR converting to NumPy array: {type(e).__name__}: {e}")
+                print(f"    Value: {value}")
+                problem_found = True
+
+if not problem_found:
+    print("\nNo problems found in the stats file. The error might be happening in another part of the code.")
+    print("Try fixing the stats file with a preprocessing step:")
+
+    # Create a fixed stats file
+    fixed_stats = {}
+    for key in stats:
+        fixed_stats[key] = {}
+        for field, value in stats[key].items():
+            if field in ["mean", "std"]:
+                # Try to safely convert to float array
+                try:
+                    # First convert to numpy array
+                    arr = np.array(value)
+                    # If object type, replace with safe values
+                    if arr.dtype == np.dtype('O'):
+                        arr = np.ones_like(arr, dtype=np.float32)
+                    else:
+                        # Make sure it's float32
+                        arr = arr.astype(np.float32)
+                    # Convert back to list for JSON
+                    fixed_stats[key][field] = arr.tolist()
+                except Exception as e:
+                    print(f"Fixing {key}.{field}: {e}")
+                    # Just use a safe default
+                    fixed_stats[key][field] = [1.0]
+            else:
+                # Keep other fields unchanged
+                fixed_stats[key][field] = value
+    
+    # Save the fixed stats
+    with open("../meta/stats_fixed.json", 'w') as f:
+        json.dump(fixed_stats, f, indent=2)
+    
+    print("Created fixed stats file: ../meta/stats_fixed.json")
+    print("You can replace the original stats.json with this file.")

README.md

@@ -0,0 +1,17 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk1
+task_categories:
+- robotics                                                   
+---
+
+# enhanced_pick_up_socks_dataset
+
+**This dataset was generated using the [phospho cli](https://github.com/phospho-app/phosphobot)**
+
+More information on [robots.phospho.ai](https://robots.phospho.ai).
+
+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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcec3196c6ddc873575de53c5e218a95a088b57c4785aa76a8b4611af0f1736
+size 18030

data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410a12d792d8c18414b611dcf48765b46eb619a04289dc7ee0f441937b13c92
+size 13706

data/chunk-000/episode_000022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000032.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80fe438a4b3a7c147ba21868d6819e49f6bd5867671f86ec13e301208a2e171
+size 12988

data/chunk-000/episode_000033.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000034.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000035.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000036.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000037.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000038.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000039.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000040.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000041.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000042.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000043.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556f572a6c599b3a83a889cb999fc29c3e8e9fdac7606298082442312ae2350
+size 13987

data/chunk-000/episode_000044.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c99cde9a7c0e78e1322c00502147271266327bcfbd4bbeee71c3c274f96f376c
+size 14615

data/chunk-000/episode_000045.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c99cde9a7c0e78e1322c00502147271266327bcfbd4bbeee71c3c274f96f376c
+size 14615

data/chunk-000/episode_000046.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c99cde9a7c0e78e1322c00502147271266327bcfbd4bbeee71c3c274f96f376c
+size 14615