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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# stacking_blocks_v2
+
+**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.

data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:86a2dc48e7cd0d5b59ebf96bd3201d6b7920326ba2a2511d454e77fe67e25681
+size 20397

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Stapele die Blöcke auf einem Stapel"],"length":232}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.3482986727056814, 0.4679783928424356, 1.4000000000000008, 1.6700000000000008, 0.8653764379119133, 0.6743421052631575], "min": [-1.021880687321516, -1.570800000000001, -0.6214139314793002, 0.7917273793662191, -0.96050647186677, -5.74883335309538e-16], "mean": [-0.37906514364269317, -0.5531908031199474, 0.4985863683300106, 1.3811452013752379, 0.04345135727776726, 0.24956754764065328], "std": [0.45306301148519135, 0.7507034387268271, 0.6632032584371692, 0.1611294658962212, 0.5837328288711429, 0.27229652113558234], "count": [232]}, "action": {"max": [0.3482986727056814, 0.4679783928424356, 1.4000000000000008, 1.6700000000000008, 0.8653764379119133, 0.6743421052631575], "min": [-1.021880687321516, -1.570800000000001, -0.6214139314793002, 0.7917273793662191, -0.96050647186677, -5.74883335309538e-16], "mean": [-0.37906514364269317, -0.5531908031199474, 0.4985863683300106, 1.3811452013752379, 0.04345135727776726, 0.24956754764065328], "std": [0.45306301148519135, 0.7507034387268271, 0.6632032584371692, 0.1611294658962212, 0.5837328288711429, 0.27229652113558234], "count": [232]}, "timestamp": {"max": [21.139705794999827], "min": [0.10282765600095445], "mean": [10.219567872095523], "std": [6.064035810080271], "count": [232]}, "frame_index": {"max": [231], "min": [0], "mean": [115.5], "std": [66.97200907842021], "count": [232]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [232]}, "index": {"max": [231], "min": [0], "mean": [115.5], "std": [66.97200907842021], "count": [232]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [232]}, "observation.images.main": {"max": [[[0.0]], [[0.0]], [[0.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [17817600]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 232,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
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+        "episode_index": {
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+            "shape": [
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+            "names": null
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+        "frame_index": {
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+        "task_index": {
+            "dtype": "int64",
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Stapele die Blöcke auf einem Stapel"}