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Datasets:
yuzhous
/
lekiwi_close_door_button_0901

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lekiwi
elevator
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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observation.state
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float32
0
9.73
frame_index
int64
0
292
episode_index
int64
0
49
index
int64
0
12.2k
task_index
int64
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[ 6.240234375, 155.390625, 177.5390625, -9.4921875, -3.69140625, 0, 0, 0, 0 ]
[ 3.779296875, 175.517578125, 178.330078125, 23.994140625, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.2
66
0
66
0
[ 6.767578125, 151.611328125, 177.451171875, -14.326171875, -3.69140625, 0, 0, 0, 0 ]
[ 3.779296875, 172.08984375, 178.330078125, 18.720703125, -2.548828125, 0.6168608665466309, -1.2783173322677612, -2.2141106128692627, -0.5859375 ]
2.233333
67
0
67
0
[ 7.734375, 147.744140625, 177.099609375, -19.16015625, -3.69140625, 0, 0, 0, 0 ]
[ 3.8671875, 168.662109375, 178.330078125, 13.447265625, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.266667
68
0
68
0
[ 8.701171875, 143.96484375, 176.66015625, -23.5546875, -3.69140625, 0, 0, 0, 0 ]
[ 4.306640625, 165.146484375, 178.330078125, 8.349609375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.3
69
0
69
0
[ 9.580078125, 140.09765625, 175.95703125, -27.59765625, -3.69140625, 0, 0, 0, 0 ]
[ 4.74609375, 161.455078125, 178.2421875, 3.251953125, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.333333
70
0
70
0
[ 10.283203125, 136.23046875, 174.90234375, -31.11328125, -3.69140625, 0, 0, 0, 0 ]
[ 5.2734375, 157.412109375, 178.154296875, -2.548828125, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.366667
71
0
71
0
[ 11.162109375, 132.36328125, 173.408203125, -33.92578125, -3.69140625, 0, 0, 0, 0 ]
[ 5.888671875, 153.896484375, 177.978515625, -6.85546875, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.4
72
0
72
0
[ 11.865234375, 128.583984375, 171.5625, -36.123046875, -3.515625, 0, 0, 0, 0 ]
[ 6.85546875, 149.58984375, 177.802734375, -12.12890625, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.433333
73
0
73
0
[ 12.48046875, 124.892578125, 169.541015625, -37.705078125, -3.427734375, 0, 0, 0, 0 ]
[ 7.55859375, 146.337890625, 177.5390625, -16.083984375, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.466667
74
0
74
0
[ 12.919921875, 121.376953125, 167.255859375, -38.671875, -3.515625, 0, 0, 0, 0 ]
[ 8.349609375, 142.470703125, 177.1875, -20.302734375, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.5
75
0
75
0
[ 13.359375, 117.685546875, 164.619140625, -38.84765625, -3.603515625, 0, 0, 0, 0 ]
[ 8.96484375, 138.603515625, 176.396484375, -23.90625, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.533333
76
0
76
0
[ 13.447265625, 114.169921875, 161.806640625, -38.84765625, -3.603515625, 0, 0, 0, 0 ]
[ 9.66796875, 134.560546875, 175.078125, -26.982421875, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.566667
77
0
77
0
[ 13.623046875, 110.654296875, 158.90625, -38.84765625, -3.603515625, 0, 0, 0, 0 ]
[ 10.1953125, 130.869140625, 173.671875, -29.267578125, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.6
78
0
78
0
[ 13.623046875, 107.314453125, 155.830078125, -38.84765625, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 10.810546875, 127.001953125, 171.9140625, -31.025390625, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.633333
79
0
79
0
[ 13.53515625, 104.0625, 152.75390625, -38.84765625, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.25, 123.310546875, 169.892578125, -32.255859375, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.666667
80
0
80
0
[ 13.271484375, 100.986328125, 149.58984375, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.6015625, 119.443359375, 167.34375, -33.310546875, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.7
81
0
81
0
[ 13.0078125, 97.91015625, 146.513671875, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.689453125, 116.103515625, 165.05859375, -33.92578125, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.733333
82
0
82
0
[ 12.83203125, 95.09765625, 143.525390625, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.865234375, 112.587890625, 162.333984375, -34.541015625, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.766667
83
0
83
0
[ 12.65625, 92.373046875, 140.625, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 109.072265625, 159.609375, -34.892578125, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.8
84
0
84
0
[ 12.216796875, 89.82421875, 137.98828125, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 105.556640625, 156.796875, -35.244140625, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.833333
85
0
85
0
[ 11.77734375, 87.451171875, 135.52734375, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 102.216796875, 153.80859375, -35.419921875, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.866667
86
0
86
0
[ 11.337890625, 85.25390625, 133.2421875, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 99.052734375, 150.908203125, -35.595703125, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.9
87
0
87
0
[ 11.25, 83.14453125, 130.95703125, -39.0234375, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 95.9765625, 148.095703125, -35.595703125, -2.548828125, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.933333
88
0
88
0
[ 10.8984375, 81.298828125, 128.759765625, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.953125, 92.724609375, 144.755859375, -35.595703125, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
2.966667
89
0
89
0
[ 10.283203125, 79.716796875, 126.73828125, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.865234375, 90.263671875, 142.646484375, -35.859375, -2.548828125, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3
90
0
90
0
[ 9.84375, 78.22265625, 124.892578125, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.77734375, 87.36328125, 139.74609375, -36.2109375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
3.033333
91
0
91
0
[ 9.580078125, 76.81640625, 123.046875, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.42578125, 85.4296875, 137.724609375, -36.2109375, -2.548828125, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
3.066667
92
0
92
0
[ 9.4921875, 75.5859375, 121.46484375, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 11.162109375, 83.14453125, 135.263671875, -36.2109375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
3.1
93
0
93
0
[ 9.404296875, 74.443359375, 119.970703125, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 10.634765625, 81.123046875, 132.978515625, -36.2109375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
3.133333
94
0
94
0
[ 9.052734375, 73.388671875, 118.65234375, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 10.107421875, 79.1015625, 130.869140625, -36.2109375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
3.166667
95
0
95
0
[ 8.876953125, 72.421875, 117.509765625, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 9.755859375, 77.51953125, 129.19921875, -36.2109375, -2.548828125, 0.6168608665466309, 0, 0, 0 ]
3.2
96
0
96
0
[ 8.7890625, 71.54296875, 116.3671875, -38.935546875, -3.603515625, 0.0834028348326683, 0, 0, 0 ]
[ 9.404296875, 75.9375, 127.265625, -36.2109375, -2.548828125, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.233333
97
0
97
0
[ 8.7890625, 70.83984375, 115.224609375, -38.935546875, -3.69140625, 0.0834028348326683, 0, 0, 0 ]
[ 9.31640625, 74.443359375, 125.419921875, -36.2109375, -2.548828125, 0.6168608665466309, -3.834951877593994, 2.2141106128692627, 1.209425529902304e-18 ]
3.266667
98
0
98
0
[ 8.701171875, 70.048828125, 114.2578125, -38.935546875, -3.69140625, 0.0834028348326683, 0, 0, 0 ]
[ 9.140625, 73.125, 123.837890625, -36.2109375, -2.548828125, 0.6168608665466309, 1.2783173322677612, 2.2141106128692627, -1.171875 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "lekiwi",
    "total_episodes": 50,
    "total_frames": 12240,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "shape": [
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            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
            ]
        },
        "observation.state": {
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            "shape": [
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            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.channels": 3,
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        "observation.images.side": {
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            "names": [
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                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

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