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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# arm_gestures
+
+**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 sha256:0c74746d33a66ad0e1db21fc446e6877f9671604b535a5c1355c28c968070b8d
+size 20123

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["make gestures"],"length":310}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.23935944027350803, 0.06904599238658893, 1.4000000000000008, 1.3164769215042946, -1.155369605935586, 1.3984716157205244], "min": [-0.2884588126373043, -1.570800000000001, -1.1047358781854226, -1.2903928799360251, -1.7936614466649428, 0.021834061135371167], "mean": [0.00387548473395691, -0.9718875822221884, 0.3918951501033078, 0.20439593559832056, -1.5207194215639774, 0.25960698689956335], "std": [0.1030972242454785, 0.7539475287498232, 1.1325542695779962, 0.8947775236641069, 0.24393329073704278, 0.37705529157084966], "count": [310]}, "action": {"max": [0.23935944027350803, 0.06904599238658893, 1.4000000000000008, 1.3164769215042946, -1.155369605935586, 1.3984716157205244], "min": [-0.2884588126373043, -1.570800000000001, -1.1047358781854226, -1.2903928799360251, -1.7936614466649428, 0.021834061135371167], "mean": [0.00387548473395691, -0.9718875822221884, 0.3918951501033078, 0.20439593559832056, -1.5207194215639774, 0.25960698689956335], "std": [0.1030972242454785, 0.7539475287498232, 1.1325542695779962, 0.8947775236641069, 0.24393329073704278, 0.37705529157084966], "count": [310]}, "timestamp": {"max": [16.378694500002894], "min": [0.06881391700881068], "mean": [8.198465431049032], "std": [4.748673927598252], "count": [310]}, "frame_index": {"max": [309], "min": [0], "mean": [154.5], "std": [89.48882611812493], "count": [310]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [310]}, "index": {"max": [309], "min": [0], "mean": [154.5], "std": [89.48882611812493], "count": [310]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [310]}, "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": [23808000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 310,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "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": [
+                1
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+            "names": null
+        },
+        "frame_index": {
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+                1
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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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":"make gestures"}