---
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}
}
```