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Datasets:
yuzhous
/
lekiwi_second_floor

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
lekiwi
elevator
Libraries:
Datasets
Dask
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xet
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observation.state
list
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float32
0
9.8
frame_index
int64
0
294
episode_index
int64
0
19
index
int64
0
5.2k
task_index
int64
0
0
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[ 5.185546875, 197.666015625, 179.296875, 41.748046875, -7.998046875, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 57.041015625, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.1
63
0
63
0
[ 5.185546875, 197.578125, 179.296875, 38.056640625, -7.998046875, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 55.283203125, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.133333
64
0
64
0
[ 5.185546875, 197.578125, 179.296875, 34.541015625, -7.998046875, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 52.91015625, -7.470703125, 0.34867504239082336, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.166667
65
0
65
0
[ 5.185546875, 197.578125, 179.296875, 31.552734375, -7.998046875, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 50.09765625, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.2
66
0
66
0
[ 5.185546875, 197.314453125, 179.296875, 28.916015625, -7.998046875, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 47.109375, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.233333
67
0
67
0
[ 5.185546875, 196.611328125, 179.296875, 26.630859375, -8.0859375, 0.49099838733673096, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 44.12109375, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.266667
68
0
68
0
[ 5.361328125, 195.46875, 179.296875, 24.609375, -8.0859375, 0.40916529297828674, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 40.4296875, -7.470703125, 0.34867504239082336, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.3
69
0
69
0
[ 5.80078125, 193.974609375, 179.296875, 22.587890625, -8.0859375, 0.40916529297828674, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 37.705078125, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.333333
70
0
70
0
[ 6.328125, 192.216796875, 179.296875, 20.654296875, -8.0859375, 0.40916529297828674, 0, 0, 0 ]
[ 4.5703125, 194.94140625, 177.099609375, 34.98046875, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
2.366667
71
0
71
0
[ 6.85546875, 190.1953125, 179.296875, 18.80859375, -8.0859375, 0.40916529297828674, 0, 0, 0 ]
[ 4.5703125, 194.677734375, 177.099609375, 31.904296875, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.4
72
0
72
0
[ 7.470703125, 187.998046875, 179.296875, 16.69921875, -8.0859375, 0.40916529297828674, 0, 0, 0 ]
[ 4.5703125, 194.23828125, 177.099609375, 29.794921875, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.433333
73
0
73
0
[ 8.349609375, 185.712890625, 179.296875, 14.501953125, -8.0859375, 0.3273322582244873, 0, 0, 0 ]
[ 4.5703125, 193.359375, 177.099609375, 27.421875, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.466667
74
0
74
0
[ 9.31640625, 183.603515625, 179.296875, 12.12890625, -8.0859375, 0.3273322582244873, 0, 0, 0 ]
[ 4.74609375, 192.392578125, 177.1875, 25.224609375, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.5
75
0
75
0
[ 10.01953125, 181.23046875, 179.208984375, 9.66796875, -8.0859375, 0.3273322582244873, 0, 0, 0 ]
[ 5.2734375, 190.8984375, 177.1875, 22.939453125, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.533333
76
0
76
0
[ 10.72265625, 178.9453125, 179.208984375, 7.119140625, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 6.064453125, 189.140625, 177.275390625, 20.91796875, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.566667
77
0
77
0
[ 11.337890625, 176.748046875, 179.208984375, 4.5703125, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 6.943359375, 187.119140625, 177.275390625, 18.544921875, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.6
78
0
78
0
[ 11.953125, 174.7265625, 179.208984375, 2.109375, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 7.646484375, 185.361328125, 177.275390625, 16.34765625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.633333
79
0
79
0
[ 12.48046875, 172.705078125, 179.12109375, -0.17578125, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 8.26171875, 183.515625, 177.275390625, 14.150390625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.666667
80
0
80
0
[ 12.919921875, 170.771484375, 179.033203125, -2.197265625, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 8.876953125, 181.40625, 177.275390625, 11.865234375, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.7
81
0
81
0
[ 13.359375, 169.013671875, 178.505859375, -3.515625, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
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2.733333
82
0
82
0
[ 13.53515625, 167.16796875, 177.5390625, -4.39453125, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 9.84375, 177.1875, 177.275390625, 7.119140625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.766667
83
0
83
0
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[ 10.37109375, 175.078125, 177.275390625, 5.009765625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.8
84
0
84
0
[ 13.623046875, 163.828125, 174.375, -4.74609375, -8.0859375, 0.24549919366836548, 0, 0, 0 ]
[ 10.986328125, 173.232421875, 177.275390625, 3.1640625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.833333
85
0
85
0
[ 13.623046875, 162.158203125, 172.529296875, -4.658203125, -7.998046875, 0.24549919366836548, 0, 0, 0 ]
[ 11.42578125, 171.650390625, 177.275390625, 1.7578125, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.866667
86
0
86
0
[ 13.53515625, 160.48828125, 170.68359375, -4.658203125, -7.822265625, 0.24549919366836548, 0, 0, 0 ]
[ 11.689453125, 169.716796875, 177.275390625, 0.703125, -7.646484375, 0.34867504239082336, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.9
87
0
87
0
[ 13.53515625, 158.90625, 168.92578125, -4.658203125, -7.646484375, 0.24549919366836548, 0, 0, 0 ]
[ 11.865234375, 167.783203125, 177.01171875, -0.087890625, -7.646484375, 0.34867504239082336, 0, 0, 0 ]
2.933333
88
0
88
0
[ 13.447265625, 157.32421875, 167.16796875, -4.658203125, -7.55859375, 0.24549919366836548, 0, 0, 0 ]
[ 12.041015625, 166.025390625, 176.484375, -0.52734375, -7.55859375, 0.34867504239082336, 0, 0, 0 ]
2.966667
89
0
89
0
[ 13.359375, 155.7421875, 165.41015625, -4.658203125, -7.55859375, 0.24549919366836548, 0, 0, 0 ]
[ 12.392578125, 164.443359375, 175.693359375, -0.87890625, -7.470703125, 0.34867504239082336, -2.5566346645355225, 4.428221225738525, -1.171875 ]
3
90
0
90
0
[ 13.359375, 154.072265625, 163.740234375, -4.74609375, -7.55859375, 0.24549919366836548, 0, 0, 0 ]
[ 12.568359375, 162.59765625, 174.55078125, -1.142578125, -7.470703125, 0.34867504239082336, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.033333
91
0
91
0
[ 13.271484375, 152.314453125, 162.0703125, -4.921875, -7.55859375, 0.24549919366836548, 0, 0, 0 ]
[ 12.568359375, 160.927734375, 173.49609375, -1.40625, -7.470703125, 0.34867504239082336, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3.066667
92
0
92
0
[ 13.271484375, 150.46875, 160.400390625, -5.185546875, -7.55859375, 0.24549919366836548, 0, 0, 0 ]
[ 12.48046875, 159.2578125, 172.353515625, -1.58203125, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
3.1
93
0
93
0
[ 13.271484375, 148.623046875, 158.5546875, -5.185546875, -7.470703125, 0.24549919366836548, 0, 0, 0 ]
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3.133333
94
0
94
0
[ 13.271484375, 146.689453125, 156.708984375, -5.185546875, -7.470703125, 0.24549919366836548, 0, 0, 0 ]
[ 12.216796875, 156.26953125, 169.541015625, -1.669921875, -7.470703125, 0.34867504239082336, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3.166667
95
0
95
0
[ 13.359375, 144.84375, 154.775390625, -5.185546875, -7.470703125, 0.24549919366836548, 0, 0, 0 ]
[ 12.12890625, 154.3359375, 168.22265625, -2.197265625, -7.470703125, 0.34867504239082336, 0, 0, 0 ]
3.2
96
0
96
0
[ 13.359375, 142.91015625, 152.841796875, -5.2734375, -7.470703125, 0.24549919366836548, 0, 0, 0 ]
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3.233333
97
0
97
0
[ 13.359375, 140.888671875, 150.8203125, -5.2734375, -7.470703125, 0.24549919366836548, 0, 0, 0 ]
[ 12.12890625, 150.29296875, 164.70703125, -2.548828125, -7.470703125, 0.34867504239082336, -2.5566346645355225, 4.428221225738525, -1.171875 ]
3.266667
98
0
98
0
[ 13.447265625, 139.04296875, 148.88671875, -5.2734375, -7.470703125, 0.24549919366836548, 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": 20,
    "total_frames": 5202,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
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    "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": {
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            "shape": [
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            "names": [
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                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
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                "y_mm",
                "theta"
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        "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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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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    }
}

Citation

BibTeX:

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License:
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