| 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 | |