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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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+size 6106

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["None"],"length":65}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [-1.5343553863686414, -1.9731810268700727, 1.5220805432776923, -1.9547687622336491, 1.509805700186743, -2.054501862347611], "min": [-1.5343553863686414, -1.9731810268700727, 1.5220805432776923, -1.9547687622336491, 1.509805700186743, -2.054501862347611], "mean": [-1.5343553863686417, -1.9731810268700691, 1.5220805432776945, -1.9547687622336518, 1.5098057001867449, -2.05450186234761], "std": [0.0, 8.688795409866125e-08, 0.0, 0.0, 0.0, 0.0], "count": [65]}, "action": {"max": [-1.5343553863686414, -1.9731810268700727, 1.5220805432776923, -1.9547687622336491, 1.509805700186743, -2.054501862347611], "min": [-1.5343553863686414, -1.9731810268700727, 1.5220805432776923, -1.9547687622336491, 1.509805700186743, -2.054501862347611], "mean": [-1.5343553863686417, -1.9731810268700691, 1.5220805432776945, -1.9547687622336518, 1.5098057001867449, -2.05450186234761], "std": [0.0, 8.688795409866125e-08, 0.0, 0.0, 0.0, 0.0], "count": [65]}, "timestamp": {"max": [2.191674332949333], "min": [0.0014054159983061254], "mean": [1.0959852861750943], "std": [0.6419881505211739], "count": [65]}, "frame_index": {"max": [64], "min": [0], "mean": [32.0], "std": [18.76166303929372], "count": [65]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [65]}, "index": {"max": [64], "min": [0], "mean": [32.0], "std": [18.76166303929372], "count": [65]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [65]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.04313725605607033]], [[0.054901961237192154]], [[0.0]]], "mean": [[[0.5640298128128052]], [[0.5117946267127991]], [[0.4755604565143585]]], "std": [[[0.2499057501554489]], [[0.23604212701320648]], [[0.22081273794174194]]], "count": [4992000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 65,
+    "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
+            ],
+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "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":"None"}

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

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