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Datasets:
yuzhous
/
lekiwi_first_floor_0922

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lekiwi
elevator
Libraries:
Datasets
Dask
License:
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xet
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action
list
observation.state
list
timestamp
float32
0
11.3
frame_index
int64
0
340
episode_index
int64
0
99
index
int64
0
28k
task_index
int64
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65
0
[ -1.23046875, 153.28125, 133.857421875, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 169.8046875, 152.490234375, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.2
66
0
66
0
[ -1.23046875, 150.8203125, 131.30859375, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 166.81640625, 149.765625, 59.677734375, -0.615234375, 0.5483207702636719, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.233333
67
0
67
0
[ -1.142578125, 148.271484375, 128.935546875, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 163.740234375, 147.12890625, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.266667
68
0
68
0
[ -1.142578125, 145.8984375, 126.650390625, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 160.927734375, 144.404296875, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.3
69
0
69
0
[ -1.142578125, 143.4375, 124.27734375, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 158.02734375, 141.767578125, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.333333
70
0
70
0
[ -1.142578125, 140.9765625, 122.080078125, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 155.302734375, 139.04296875, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.366667
71
0
71
0
[ -1.0546875, 138.603515625, 119.970703125, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 152.40234375, 136.58203125, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.4
72
0
72
0
[ -1.0546875, 136.318359375, 118.125, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 149.58984375, 134.12109375, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.433333
73
0
73
0
[ -1.0546875, 134.208984375, 116.455078125, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 146.953125, 131.748046875, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.466667
74
0
74
0
[ -1.0546875, 132.275390625, 114.9609375, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 144.31640625, 129.462890625, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.5
75
0
75
0
[ -0.966796875, 130.517578125, 113.5546875, 58.18359375, 0.3515625, 0, 0, 0, 0 ]
[ -0.52734375, 141.767578125, 127.353515625, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.533333
76
0
76
0
[ -0.966796875, 128.935546875, 112.236328125, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 139.306640625, 125.33203125, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.566667
77
0
77
0
[ -0.966796875, 127.6171875, 111.09375, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 136.93359375, 123.310546875, 59.677734375, -0.615234375, 0.5483207702636719, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.6
78
0
78
0
[ -0.966796875, 126.38671875, 110.0390625, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 134.6484375, 121.46484375, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.633333
79
0
79
0
[ -0.966796875, 125.419921875, 109.16015625, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 132.451171875, 119.8828125, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.666667
80
0
80
0
[ -0.966796875, 124.453125, 108.544921875, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
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2.7
81
0
81
0
[ -0.966796875, 123.75, 108.10546875, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 128.759765625, 117.24609375, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
[ -0.87890625, 122.783203125, 107.841796875, 58.18359375, 0.439453125, 0, 0, 0, 0 ]
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2.8
84
0
84
0
[ -0.87890625, 122.6953125, 107.841796875, 58.095703125, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 124.62890625, 114.08203125, 59.677734375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
2.833333
85
0
85
0
[ -0.87890625, 122.51953125, 107.841796875, 58.095703125, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 123.75, 113.291015625, 59.677734375, -0.615234375, 0.5483207702636719, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.866667
86
0
86
0
[ -0.87890625, 122.51953125, 107.841796875, 58.095703125, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 122.783203125, 112.67578125, 59.677734375, -0.615234375, 0.5483207702636719, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.9
87
0
87
0
[ -0.87890625, 122.34375, 107.841796875, 58.095703125, 0.439453125, 0, 0, 0, 0 ]
[ -0.52734375, 122.255859375, 112.32421875, 59.677734375, -0.615234375, 0.5483207702636719, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.933333
88
0
88
0
[ -0.87890625, 122.080078125, 107.841796875, 58.095703125, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 121.9921875, 112.060546875, 59.677734375, -0.615234375, 0.5483207702636719, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.966667
89
0
89
0
[ -0.87890625, 121.904296875, 107.841796875, 57.919921875, 0.439453125, 0, 0, 0, 0 ]
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3
90
0
90
0
[ -0.791015625, 121.81640625, 108.28125, 56.865234375, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 121.81640625, 111.97265625, 59.677734375, -0.615234375, 0.5483207702636719, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3.033333
91
0
91
0
[ -0.439453125, 121.728515625, 108.896484375, 55.107421875, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 121.640625, 111.884765625, 59.677734375, -0.615234375, 0.5483207702636719, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3.066667
92
0
92
0
[ 0, 121.640625, 109.423828125, 53.26171875, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 121.201171875, 111.796875, 59.501953125, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
3.1
93
0
93
0
[ 0.3515625, 121.640625, 110.478515625, 50.888671875, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 120.849609375, 111.796875, 58.974609375, -0.615234375, 0.5483207702636719, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.133333
94
0
94
0
[ 0.52734375, 121.640625, 111.796875, 48.076171875, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 120.673828125, 111.796875, 58.271484375, -0.615234375, 0.5483207702636719, 0, 0, 0 ]
3.166667
95
0
95
0
[ 1.23046875, 121.640625, 113.291015625, 45, 0.439453125, 0, 0, 0, 0 ]
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3.2
96
0
96
0
[ 1.7578125, 121.640625, 114.873046875, 41.66015625, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 120.41015625, 111.796875, 55.634765625, -0.615234375, 0.5483207702636719, 3.834951877593994, -2.2141106128692627, -1.209425529902304e-18 ]
3.233333
97
0
97
0
[ 2.197265625, 121.640625, 116.54296875, 38.14453125, 0.439453125, 0, 0, 0, 0 ]
[ -0.615234375, 120.41015625, 111.97265625, 53.7890625, -0.615234375, 0.5483207702636719, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.266667
98
0
98
0
[ 2.724609375, 121.552734375, 118.212890625, 34.365234375, 0.3515625, 0, 0, 0, 0 ]
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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": 100,
    "total_frames": 27981,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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            "info": {
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                "video.width": 640,
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        "observation.images.side": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
27,981