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Datasets:
yuzhous
/
lekiwi_second_floor_button_0901

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
9.23
frame_index
int64
0
277
episode_index
int64
0
49
index
int64
0
12.5k
task_index
int64
0
0
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[ 2.4609375, 127.08984375, 142.3828125, -4.482421875, 5.888671875, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 146.953125, 150.64453125, 23.5546875, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.3
69
0
69
0
[ 2.8125, 124.365234375, 142.3828125, -10.107421875, 5.9765625, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 142.998046875, 149.4140625, 19.6875, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.333333
70
0
70
0
[ 3.251953125, 121.728515625, 142.3828125, -15.205078125, 5.9765625, 0.0834028348326683, 0, 0, 0 ]
[ 0.615234375, 138.515625, 148.447265625, 14.326171875, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.366667
71
0
71
0
[ 3.33984375, 119.1796875, 142.3828125, -19.951171875, 5.9765625, 0.0834028348326683, 0, 0, 0 ]
[ 0.791015625, 135.791015625, 148.0078125, 11.07421875, 5.2734375, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.4
72
0
72
0
[ 3.603515625, 116.806640625, 142.20703125, -24.2578125, 5.712890625, 0.0834028348326683, 0, 0, 0 ]
[ 1.0546875, 132.5390625, 147.568359375, 6.591796875, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.433333
73
0
73
0
[ 4.130859375, 114.521484375, 142.20703125, -28.388671875, 5.712890625, 0.0834028348326683, 0, 0, 0 ]
[ 1.40625, 128.84765625, 147.216796875, 1.318359375, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.466667
74
0
74
0
[ 4.482421875, 112.587890625, 142.20703125, -32.255859375, 5.712890625, 0.0834028348326683, 0, 0, 0 ]
[ 1.669921875, 125.947265625, 147.041015625, -2.900390625, 5.2734375, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.5
75
0
75
0
[ 4.833984375, 110.830078125, 142.20703125, -35.947265625, 5.712890625, 0.0834028348326683, 0, 0, 0 ]
[ 1.93359375, 123.046875, 146.865234375, -7.55859375, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.533333
76
0
76
0
[ 4.921875, 109.3359375, 142.119140625, -39.375, 5.625, 0.0834028348326683, 0, 0, 0 ]
[ 2.373046875, 119.970703125, 146.865234375, -12.744140625, 5.2734375, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.566667
77
0
77
0
[ 5.185546875, 108.017578125, 142.03125, -42.1875, 5.44921875, 0.0834028348326683, 0, 0, 0 ]
[ 2.63671875, 117.59765625, 146.865234375, -16.875, 5.2734375, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.6
78
0
78
0
[ 5.80078125, 106.69921875, 141.240234375, -43.857421875, 5.44921875, 0.0834028348326683, 0, 0, 0 ]
[ 2.900390625, 115.224609375, 146.865234375, -21.181640625, 5.2734375, 0.6168608665466309, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.633333
79
0
79
0
[ 6.240234375, 105.556640625, 140.185546875, -44.6484375, 5.625, 0.0834028348326683, 0, 0, 0 ]
[ 2.98828125, 113.115234375, 146.865234375, -25.3125, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.666667
80
0
80
0
[ 6.50390625, 104.501953125, 138.69140625, -44.384765625, 5.44921875, 0.0834028348326683, 0, 0, 0 ]
[ 3.33984375, 111.357421875, 146.865234375, -29.1796875, 5.2734375, 0.6168608665466309, 0, 0, 0 ]
2.7
81
0
81
0
[ 6.85546875, 103.271484375, 137.109375, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 3.603515625, 109.51171875, 146.42578125, -32.431640625, 5.2734375, 0.6168608665466309, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.733333
82
0
82
0
[ 6.943359375, 102.392578125, 135.52734375, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 4.130859375, 107.75390625, 145.546875, -34.892578125, 5.185546875, 0.6168608665466309, -1.2783173322677612, -2.2141106128692627, 1.171875 ]
2.766667
83
0
83
0
[ 7.119140625, 101.337890625, 134.12109375, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 4.482421875, 106.259765625, 144.4921875, -36.650390625, 5.185546875, 0.6168608665466309, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.8
84
0
84
0
[ 7.119140625, 100.1953125, 132.71484375, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 4.74609375, 104.94140625, 143.26171875, -37.96875, 5.185546875, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.833333
85
0
85
0
[ 7.20703125, 99.052734375, 131.396484375, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 5.009765625, 103.623046875, 142.03125, -39.0234375, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
2.866667
86
0
86
0
[ 7.20703125, 97.998046875, 130.166015625, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 5.361328125, 102.392578125, 140.625, -39.7265625, 5.185546875, 0.6168608665466309, 2.6385572615338987e-18, -4.428221225738525, 1.7578125 ]
2.9
87
0
87
0
[ 7.20703125, 97.03125, 129.0234375, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 5.625, 101.25, 139.306640625, -40.341796875, 5.185546875, 0.6168608665466309, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.933333
88
0
88
0
[ 7.294921875, 96.064453125, 127.96875, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 5.80078125, 100.1953125, 137.900390625, -40.78125, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
2.966667
89
0
89
0
[ 7.55859375, 95.185546875, 127.08984375, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 5.9765625, 98.96484375, 136.669921875, -41.1328125, 5.185546875, 0.6168608665466309, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3
90
0
90
0
[ 7.822265625, 94.482421875, 126.38671875, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.064453125, 97.91015625, 135.439453125, -41.396484375, 5.185546875, 0.6168608665466309, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.033333
91
0
91
0
[ 8.0859375, 93.69140625, 125.859375, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.064453125, 96.767578125, 134.208984375, -41.572265625, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
3.066667
92
0
92
0
[ 8.173828125, 92.98828125, 125.5078125, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.064453125, 95.80078125, 133.154296875, -41.66015625, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
3.1
93
0
93
0
[ 8.4375, 92.4609375, 125.33203125, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.064453125, 94.833984375, 132.099609375, -41.66015625, 5.185546875, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.133333
94
0
94
0
[ 8.7890625, 91.93359375, 125.244140625, -44.296875, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.416015625, 93.8671875, 131.1328125, -41.66015625, 5.185546875, 0.6168608665466309, 2.5566346645355225, -4.428221225738525, 1.171875 ]
3.166667
95
0
95
0
[ 8.96484375, 91.494140625, 125.244140625, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.591796875, 92.724609375, 130.4296875, -41.66015625, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
3.2
96
0
96
0
[ 9.052734375, 91.0546875, 125.244140625, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 6.85546875, 92.109375, 130.078125, -41.66015625, 5.185546875, 0.6168608665466309, -3.834951877593994, 2.2141106128692627, 1.209425529902304e-18 ]
3.233333
97
0
97
0
[ 9.140625, 90.791015625, 125.244140625, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 7.03125, 91.40625, 129.814453125, -41.66015625, 5.185546875, 0.6168608665466309, 1.2783173322677612, 2.2141106128692627, -1.171875 ]
3.266667
98
0
98
0
[ 9.228515625, 90.52734375, 125.244140625, -44.384765625, 5.361328125, 0.0834028348326683, 0, 0, 0 ]
[ 7.20703125, 90.87890625, 129.638671875, -41.66015625, 5.185546875, 0.6168608665466309, 0, 0, 0 ]
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": 12506,
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "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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        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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