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yuzhous
/
lekiwi_second_floor_0917

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
Community
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observation.state
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float32
0
12.4
frame_index
int64
0
372
episode_index
int64
0
49
index
int64
0
16.1k
task_index
int64
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[ -1.494140625, 194.677734375, 177.275390625, 59.326171875, 2.4609375, 0.4797806441783905, 0, 0, 0 ]
2.1
63
0
63
0
[ -1.845703125, 182.724609375, 163.125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 193.447265625, 176.1328125, 59.326171875, 2.4609375, 0.4797806441783905, 0, 0, 0 ]
2.133333
64
0
64
0
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[ -1.23046875, 192.041015625, 174.7265625, 59.326171875, 2.4609375, 0.4797806441783905, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.166667
65
0
65
0
[ -2.109375, 177.099609375, 157.763671875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.23046875, 190.634765625, 173.232421875, 59.326171875, 2.4609375, 0.4797806441783905, 0, 0, 0 ]
2.2
66
0
66
0
[ -2.109375, 174.19921875, 154.86328125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
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2.233333
67
0
67
0
[ -2.109375, 171.2109375, 152.05078125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.318359375, 185.80078125, 169.716796875, 59.326171875, 2.4609375, 0.4797806441783905, 0, 0, 0 ]
2.266667
68
0
68
0
[ -2.109375, 168.046875, 149.0625, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 183.603515625, 167.51953125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.3
69
0
69
0
[ -2.021484375, 164.794921875, 145.8984375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 181.142578125, 165.05859375, 59.326171875, 2.373046875, 0.4797806441783905, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.333333
70
0
70
0
[ -1.845703125, 161.279296875, 142.646484375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 178.505859375, 162.59765625, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.366667
71
0
71
0
[ -1.845703125, 157.763671875, 139.39453125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 175.693359375, 160.13671875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.4
72
0
72
0
[ -1.845703125, 154.16015625, 135.966796875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 172.79296875, 157.32421875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.433333
73
0
73
0
[ -1.845703125, 150.556640625, 132.71484375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 169.716796875, 154.423828125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.466667
74
0
74
0
[ -1.845703125, 147.12890625, 129.375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 166.46484375, 150.99609375, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.5
75
0
75
0
[ -1.845703125, 143.701171875, 126.2109375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.40625, 163.212890625, 148.271484375, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.533333
76
0
76
0
[ -1.845703125, 140.2734375, 123.046875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.494140625, 159.43359375, 144.66796875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.566667
77
0
77
0
[ -1.845703125, 137.021484375, 119.794921875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.494140625, 156.4453125, 141.943359375, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.6
78
0
78
0
[ -1.845703125, 133.857421875, 116.54296875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.58203125, 153.193359375, 138.8671875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.633333
79
0
79
0
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[ -1.58203125, 149.58984375, 135.703125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.666667
80
0
80
0
[ -1.845703125, 128.14453125, 110.126953125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.58203125, 146.162109375, 132.5390625, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -1.669921875, 135.87890625, 122.783203125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.8
84
0
84
0
[ -2.109375, 118.30078125, 99.4921875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.669921875, 132.626953125, 119.794921875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.833333
85
0
85
0
[ -2.197265625, 116.015625, 97.294921875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.669921875, 129.638671875, 116.630859375, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.866667
86
0
86
0
[ -2.197265625, 113.818359375, 95.2734375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.669921875, 126.5625, 113.642578125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.9
87
0
87
0
[ -2.197265625, 111.533203125, 93.251953125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.669921875, 123.837890625, 110.7421875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.933333
88
0
88
0
[ -2.197265625, 109.3359375, 91.40625, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 121.2890625, 108.10546875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
2.966667
89
0
89
0
[ -2.197265625, 107.138671875, 89.47265625, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 118.740234375, 105.64453125, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
3
90
0
90
0
[ -2.197265625, 105.1171875, 87.451171875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 116.103515625, 103.271484375, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
3.033333
91
0
91
0
[ -2.197265625, 103.095703125, 85.341796875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 113.642578125, 101.07421875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
3.066667
92
0
92
0
[ -2.197265625, 101.162109375, 83.408203125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 111.26953125, 98.7890625, 59.326171875, 2.373046875, 0.4797806441783905, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
3.1
93
0
93
0
[ -2.197265625, 99.228515625, 81.2109375, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 108.984375, 96.85546875, 59.326171875, 2.373046875, 0.4797806441783905, 0, 0, 0 ]
3.133333
94
0
94
0
[ -2.197265625, 97.470703125, 79.189453125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 106.69921875, 94.658203125, 59.326171875, 2.373046875, 0.4797806441783905, -1.2783173322677612, -2.2141106128692627, -0.5859375 ]
3.166667
95
0
95
0
[ -2.373046875, 95.888671875, 77.431640625, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
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3.2
96
0
96
0
[ -2.98828125, 94.5703125, 75.673828125, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
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3.233333
97
0
97
0
[ -3.33984375, 93.33984375, 74.091796875, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 101.6015625, 89.912109375, 59.326171875, 2.373046875, 0.4797806441783905, 1.2783173322677612, -2.2141106128692627, -1.171875 ]
3.266667
98
0
98
0
[ -3.69140625, 92.197265625, 72.59765625, 58.623046875, 2.900390625, -0.2502085268497467, 0, 0, 0 ]
[ -1.7578125, 99.404296875, 87.71484375, 59.326171875, 2.373046875, 0.4797806441783905, -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": 16065,
    "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": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "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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                "width",
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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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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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                "width",
                "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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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