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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# pick
+
+**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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+oid sha256:f73235211e04ae404abc0b895a72fde45f9d29c54779722e2a1b198a03d885ee
+size 20721

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["pick the rectangular white little box"],"length":240}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.24703121720535112, 0.27158090338724966, 1.4000000000000008, 1.4576376170502083, -0.26084041568266875, 0.6843225023204145], "min": [-0.6382918407293552, -1.570800000000001, -0.03375581850011014, 0.9973310011396165, -2.738824364668023, 0.0015343553863686403], "mean": [-0.1395432292427846, -0.6909691279989422, 0.5991936814518941, 1.2046543795752356, -1.3864818860073638, 0.2556108210741291], "std": [0.21539184455872637, 0.6156372324912156, 0.467118031524207, 0.09351785396695993, 0.6897913191153479, 0.2841538558971943], "count": [240]}, "action": {"max": [0.24703121720535112, 0.27158090338724966, 1.4000000000000008, 1.4576376170502083, -0.26084041568266875, 0.6843225023204145], "min": [-0.6382918407293552, -1.570800000000001, -0.03375581850011014, 0.9973310011396165, -2.738824364668023, 0.0015343553863686403], "mean": [-0.1395432292427846, -0.6909691279989422, 0.5991936814518941, 1.2046543795752356, -1.3864818860073638, 0.2556108210741291], "std": [0.21539184455872637, 0.6156372324912156, 0.467118031524207, 0.09351785396695993, 0.6897913191153479, 0.2841538558971943], "count": [240]}, "timestamp": {"max": [12.184006958006648], "min": [0.041607624996686354], "mean": [6.034079177097859], "std": [3.53427874441505], "count": [240]}, "frame_index": {"max": [239], "min": [0], "mean": [119.5], "std": [69.2814308936144], "count": [240]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [240]}, "index": {"max": [239], "min": [0], "mean": [119.5], "std": [69.2814308936144], "count": [240]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [240]}, "observation.images.main": {"max": [[[0.9764705896377563]], [[0.9764705896377563]], [[0.9411764740943909]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.5694783926010132]], [[0.4637467563152313]], [[0.32244133949279785]]], "std": [[[0.09967218339443207]], [[0.11836244910955429]], [[0.1470802128314972]]], "count": [18432000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 240,
+    "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": {
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+                1
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+            "names": null
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+        "frame_index": {
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+        "task_index": {
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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":"pick the rectangular white little box"}

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

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