| --- |
| 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} |
| } |
| ``` |
|
|
