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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset
+
+**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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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Pick the cup and drop it into the cup."],"length":76}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [76]}, "action": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [76]}, "timestamp": {"max": [15.993056699982844], "min": [0.1169689999660477], "mean": [8.066508922362884], "std": [4.6761997618596025], "count": [76]}, "frame_index": {"max": [75], "min": [0], "mean": [37.5], "std": [21.937410968480304], "count": [76]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [76]}, "index": {"max": [75], "min": [0], "mean": [37.5], "std": [21.937410968480304], "count": [76]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [76]}, "observation.images.main": {"max": [[[1.0]], [[0.95686274766922]], [[0.9843137264251709]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4382978677749634]], [[0.4313195049762726]], [[0.4185343086719513]]], "std": [[[0.24943974614143372]], [[0.25296294689178467]], [[0.2579551041126251]]], "count": [23347200]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4848181903362274]], [[0.47572675347328186]], [[0.45821264386177063]]], "std": [[[0.25547465682029724]], [[0.2744680941104889]], [[0.29633161425590515]]], "count": [23347200]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4915790259838104]], [[0.49286165833473206]], [[0.5159810781478882]]], "std": [[[0.21978138387203217]], [[0.22954483330249786]], [[0.2465677112340927]]], "count": [23347200]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 76,
+    "total_tasks": 1,
+    "total_videos": 3,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "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"
+            ]
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+            "shape": [
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+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
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+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
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+            "names": [
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+            "info": {
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+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Pick the cup and drop it into the cup."}

videos/chunk-000/observation.images.main/episode_000000.mp4

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