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license: cc
---
Dexdata format SO-101 dataset
# Dataset Structure
```
so101_pick_cube
├── videos
│ ├── so101_20260630_103330_filtered
│ │ ├── file-000.mp4_top.mp4
│ │ └── file-000.mp4_wrist.mp4
│ └── ...
└── jsonl
├── episode_00000.jsonl
├── episode_00001.jsonl
└── ...
```
# Task Description
This dataset contains robot manipulation demonstrations for the task:
- **Task**: Pick the cube and place it in the plate
- **Object variations**: Different colored cubes (e.g., orange)
# Data Format
Each episode file in `jsonl/` contains trajectory data with:
- `prompt`: Task instruction
- `state`: Robot state (6D vector)
- `action`: Robot action (6D vector)
- `images_1`: Top camera view reference
- `images_2`: Wrist camera view reference
- `extra`: Additional metadata (subtask, timestamp, episode_index, cube_color)
# Citation
```bibtex
@misc{dm05,
title = {{DM0.5}: An Open-World Foundation Model for General-Purpose Embodied Intelligence},
author = {{Dexmal Team}},
month = {July},
year = {2026},
url = {https://www.dexmal.com/blog/dm0.5/index_en.html}
}
```
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