---
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