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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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+oid sha256:d89630c936dc0c0f53c0792066be5884ac16d4b76a85d4fa9b9dda506ca16618
+size 19691

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["None"],"length":369}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.3268176972965206, 6.326147257997908, 0.5446961621608677, 1.545095874073222, 0.0030687107727372827, 1.8581043728924247], "min": [-0.5155434098198635, 5.061838419630147, -0.36210787118299936, 0.01074048770458049, -0.006137421545474565, 0.029152752341004187], "mean": [0.00482344782706671, 5.479623848058315, -0.1429694884810649, 0.9868898998518846, 0.0015094065182976052, 0.23746748444478843], "std": [0.14339646455784777, 0.4909233260757375, 0.21062201917237716, 0.607603913716838, 0.0005864310913989187, 0.5181263125242435], "count": [369]}, "action": {"max": [0.3268176972965206, 6.326147257997908, 0.5446961621608677, 1.545095874073222, 0.0030687107727372827, 1.8581043728924247], "min": [-0.5155434098198635, 5.061838419630147, -0.36210787118299936, 0.01074048770458049, -0.006137421545474565, 0.029152752341004187], "mean": [0.00482344782706671, 5.479623848058315, -0.1429694884810649, 0.9868898998518846, 0.0015094065182976052, 0.23746748444478843], "std": [0.14339646455784777, 0.4909233260757375, 0.21062201917237716, 0.607603913716838, 0.0005864310913989187, 0.5181263125242435], "count": [369]}, "timestamp": {"max": [19.2203851910308], "min": [0.002544707152992487], "mean": [9.587795083274747], "std": [5.578074116992955], "count": [369]}, "frame_index": {"max": [368], "min": [0], "mean": [184.0], "std": [106.52073350604878], "count": [369]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [369]}, "index": {"max": [368], "min": [0], "mean": [184.0], "std": [106.52073350604878], "count": [369]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [369]}, "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": [28339200]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 369,
+    "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
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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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