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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset_6
+
+**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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+size 12888

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["orange screwdriver pick up"],"length":150}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.12735149706859733, 0.2194128202507156, 1.4000000000000008, 1.2873241691632893, 0.01841226463642379, 0.5661771375700282], "min": [-0.9129414548893412, -1.570800000000001, 0.1058705216594362, 0.5830550468200844, -0.0015343553863686405, -0.009206132318211855], "mean": [-0.396927509417659, -1.1795940199632506, 1.0379523029133753, 1.0192927412365034, 0.007978648009116941, 0.216548690196161], "std": [0.42192857263809186, 0.617110538473797, 0.512114049856179, 0.14113090997245314, 0.006584035591001369, 0.2137348914515857], "count": [150]}, "action": {"max": [0.12735149706859733, 0.2194128202507156, 1.4000000000000008, 1.2873241691632893, 0.01841226463642379, 0.5661771375700282], "min": [-0.9129414548893412, -1.570800000000001, 0.1058705216594362, 0.5830550468200844, -0.0015343553863686405, -0.009206132318211855], "mean": [-0.396927509417659, -1.1795940199632506, 1.0379523029133753, 1.0192927412365034, 0.007978648009116941, 0.216548690196161], "std": [0.42192857263809186, 0.617110538473797, 0.512114049856179, 0.14113090997245314, 0.006584035591001369, 0.2137348914515857], "count": [150]}, "timestamp": {"max": [16.77196499999991], "min": [0.10737849999986793], "mean": [8.488575247999913], "std": [4.89936175400491], "count": [150]}, "frame_index": {"max": [149], "min": [0], "mean": [74.5], "std": [43.30030792808138], "count": [150]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [150]}, "index": {"max": [149], "min": [0], "mean": [74.5], "std": [43.30030792808138], "count": [150]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [150]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.007843137718737125]], [[0.0]]], "mean": [[[0.6231150031089783]], [[0.6007019281387329]], [[0.5909302234649658]]], "std": [[[0.22313852608203888]], [[0.2549183666706085]], [[0.26496028900146484]]], "count": [11520000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 150,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
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+                1
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+        "index": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "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":"orange screwdriver pick up"}

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

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