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tags:
- phosphobot
- so100
- phospho-dk
task_categories:
- robotics
---
# 3_same_cameras
**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.
We add an observation.environment_state column to the parquets.
This has been computed by using PaliGemma and fast3r to determine object spaces in the scene and determine their positions relative to each other.
observation.environment_state is an array of size 6:
- The first 3 values are x,y,z for the position_item_relative_to_robot
- The last 3 values are x,y,z for the position_target_relative_to_robot
These have been estimated in 3D space
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