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.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 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk1
+task_categories:
+- robotics                                                   
+---
+
+# pick_up_socks_dataset
+
+**This dataset was generated using a [phospho starter pack](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.

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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["pick up the socks and put it in the bowl"],"length":180}
+{"episode_index":1,"tasks":["pick up the socks and put it in the bowl"],"length":112}
+{"episode_index":2,"tasks":["pick up the socks and put it in the bowl"],"length":104}
+{"episode_index":3,"tasks":["pick up the socks and put it in the bowl"],"length":121}
+{"episode_index":4,"tasks":["pick up the socks and put it in the bowl"],"length":130}
+{"episode_index":5,"tasks":["pick up the socks and put it in the bowl"],"length":115}
+{"episode_index":6,"tasks":["pick up the socks and put it in the bowl"],"length":146}
+{"episode_index":7,"tasks":["pick up the socks and put it in the bowl"],"length":135}
+{"episode_index":8,"tasks":["pick up the socks and put it in the bowl"],"length":127}
+{"episode_index":9,"tasks":["pick up the socks and put it in the bowl"],"length":120}
+{"episode_index":10,"tasks":["pick up the socks and put it in the bowl"],"length":137}
+{"episode_index":11,"tasks":["pick up the socks and put it in the bowl"],"length":111}
+{"episode_index":12,"tasks":["pick up the socks and put it in the bowl"],"length":124}
+{"episode_index":13,"tasks":["pick up the socks and put it in the bowl"],"length":125}
+{"episode_index":14,"tasks":["pick up the socks and put it in the bowl"],"length":178}
+{"episode_index":15,"tasks":["pick up the socks and put it in the bowl"],"length":130}
+{"episode_index":16,"tasks":["pick up the socks and put it in the bowl"],"length":154}
+{"episode_index":17,"tasks":["pick up the socks and put it in the bowl"],"length":97}
+{"episode_index":18,"tasks":["pick up the socks and put it in the bowl"],"length":114}
+{"episode_index":19,"tasks":["pick up the socks and put it in the bowl"],"length":116}
+{"episode_index":20,"tasks":["pick up the socks and put it in the bowl"],"length":102}
+{"episode_index":21,"tasks":["pick up the socks and put it in the bowl"],"length":132}
+{"episode_index":22,"tasks":["pick up the socks and put it in the bowl"],"length":135}
+{"episode_index":23,"tasks":["pick up the socks and put it in the bowl"],"length":103}
+{"episode_index":24,"tasks":["pick up the socks and put it in the bowl"],"length":109}
+{"episode_index":25,"tasks":["pick up the socks and put it in the bowl"],"length":136}
+{"episode_index":26,"tasks":["pick up the socks and put it in the bowl"],"length":116}
+{"episode_index":27,"tasks":["pick up the socks and put it in the bowl"],"length":163}
+{"episode_index":28,"tasks":["pick up the socks and put it in the bowl"],"length":104}
+{"episode_index":29,"tasks":["pick up the socks and put it in the bowl"],"length":133}
+{"episode_index":30,"tasks":["pick up the socks and put it in the bowl"],"length":126}
+{"episode_index":31,"tasks":["pick up the socks and put it in the bowl"],"length":149}
+{"episode_index":32,"tasks":["pick up the socks and put it in the bowl"],"length":150}
+{"episode_index":33,"tasks":["pick up the socks and put it in the bowl"],"length":147}
+{"episode_index":34,"tasks":["pick up the socks and put it in the bowl"],"length":181}
+{"episode_index":35,"tasks":["pick up the socks and put it in the bowl"],"length":114}
+{"episode_index":36,"tasks":["pick up the socks and put it in the bowl"],"length":117}
+{"episode_index":37,"tasks":["pick up the socks and put it in the bowl"],"length":116}
+{"episode_index":38,"tasks":["pick up the socks and put it in the bowl"],"length":121}
+{"episode_index":39,"tasks":["pick up the socks and put it in the bowl"],"length":121}
+{"episode_index":40,"tasks":["pick up the socks and put it in the bowl"],"length":101}
+{"episode_index":41,"tasks":["pick up the socks and put it in the bowl"],"length":18}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.0",
+    "total_episodes": 41,
+    "total_frames": 5252,
+    "total_tasks": 1,
+    "total_videos": 82,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:41"
+    },
+    "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": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                1
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+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/stats.json

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+{
+  "observation.state": {
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