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Datasets:
leowei
/
lekiwi_test4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
24.2
frame_index
int64
0
605
episode_index
int64
0
2
index
int64
0
1.81k
task_index
int64
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0
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2
50
0
50
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.80078125, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -6.391586780548096, -6.642331600189209, -1.171875 ]
2.04
51
0
51
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.08
52
0
52
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.712890625, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, 6.391586780548096, 6.642331600189209, 1.171875 ]
2.12
53
0
53
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.888671875, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -2.5566346645355225, -4.428221225738525, -1.171875 ]
2.16
54
0
54
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.2
55
0
55
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.24
56
0
56
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.9765625, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.28
57
0
57
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.32
58
0
58
0
[ 6.6796875, 193.974609375, 176.220703125, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.888671875, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, 1.2783173322677612, 64.2092056274414, 0.5859375 ]
2.36
59
0
59
0
[ 6.6796875, 193.974609375, 175.869140625, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 6.064453125, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, 97.42086791992188, 1.171875 ]
2.4
60
0
60
0
[ 6.6796875, 193.974609375, 174.462890625, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 6.064453125, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, 97.42086791992188, 1.171875 ]
2.44
61
0
61
0
[ 6.6796875, 193.974609375, 172.529296875, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.48
62
0
62
0
[ 6.6796875, 193.974609375, 170.771484375, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.52
63
0
63
0
[ 6.6796875, 193.974609375, 169.62890625, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.625, 193.0078125, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -2.5566346645355225, 39.85398864746094, -2.9296875 ]
2.56
64
0
64
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[ 6.6796875, 193.974609375, 168.75, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.6
65
0
65
0
[ 6.6796875, 193.974609375, 167.87109375, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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66
0
66
0
[ 6.6796875, 193.974609375, 167.255859375, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.68
67
0
67
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[ 6.6796875, 193.974609375, 166.904296875, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
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2.72
68
0
68
0
[ 6.15234375, 193.974609375, 166.81640625, 63.10546875, 1.93359375, -0.08568980544805527, 0, 0, 0 ]
[ 5.625, 192.919921875, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -8.948221206665039, -11.070552825927734, -2.34375 ]
2.76
69
0
69
0
[ 6.064453125, 193.974609375, 166.728515625, 63.10546875, 1.845703125, -0.08568980544805527, 0, 0, 0 ]
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2.8
70
0
70
0
[ 6.064453125, 193.974609375, 166.552734375, 63.017578125, 1.845703125, -0.08568980544805527, 0, 0, 0 ]
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2.84
71
0
71
0
[ 5.9765625, 193.974609375, 165.673828125, 63.017578125, 1.845703125, 0, 0, 0, 0 ]
[ 5.9765625, 192.919921875, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.88
72
0
72
0
[ 5.888671875, 193.974609375, 164.091796875, 63.017578125, 1.845703125, 0.42844900488853455, 0, 0, 0 ]
[ 6.064453125, 192.919921875, 176.484375, 63.10546875, 0.966796875, 0.4830917716026306, 0, 0, 0 ]
2.92
73
0
73
0
[ 5.888671875, 193.974609375, 162.421875, 63.017578125, 1.845703125, 1.9708654880523682, 0, 0, 0 ]
[ 6.064453125, 192.83203125, 175.78125, 63.10546875, 0.966796875, 0.4830917716026306, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.96
74
0
74
0
[ 5.888671875, 193.974609375, 160.751953125, 63.10546875, 1.845703125, 4.54155969619751, 0, 0, 0 ]
[ 6.064453125, 192.919921875, 175.78125, 63.10546875, 0.966796875, 0.4830917716026306, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3
75
0
75
0
[ 5.80078125, 193.974609375, 159.78515625, 63.369140625, 1.845703125, 8.140531539916992, 0, 0, 0 ]
[ 5.9765625, 193.271484375, 172.177734375, 63.10546875, 0.966796875, 0.4830917716026306, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.04
76
0
76
0
[ 5.80078125, 193.974609375, 159.2578125, 63.45703125, 1.93359375, 12.167951583862305, 0, 0, 0 ]
[ 6.064453125, 192.919921875, 170.859375, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, 8.85644245147705, 1.171875 ]
3.08
77
0
77
0
[ 5.80078125, 193.974609375, 159.08203125, 63.544921875, 1.93359375, 16.880891799926758, 0, 0, 0 ]
[ 6.240234375, 192.568359375, 169.98046875, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, 4.428221225738525, 1.171875 ]
3.12
78
0
78
0
[ 5.80078125, 193.974609375, 159.08203125, 63.720703125, 2.021484375, 21.850900650024414, 0, 0, 0 ]
[ 6.240234375, 192.568359375, 169.98046875, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, 4.428221225738525, 1.171875 ]
3.16
79
0
79
0
[ 5.888671875, 193.974609375, 159.08203125, 63.369140625, 2.197265625, 26.64952850341797, 0, 0, 0 ]
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3.2
80
0
80
0
[ 5.888671875, 193.974609375, 159.08203125, 63.720703125, 2.021484375, 30.934019088745117, 0, 0, 0 ]
[ 5.888671875, 192.744140625, 168.134765625, 63.10546875, 0.966796875, 0.4830917716026306, -3.834951877593994, -2.2141106128692627, 9.878761960603163e-17 ]
3.24
81
0
81
0
[ 5.888671875, 193.974609375, 159.169921875, 63.896484375, 2.021484375, 35.0471305847168, 0, 0, 0 ]
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3.28
82
0
82
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3.32
83
0
83
0
[ 5.80078125, 193.798828125, 159.2578125, 64.072265625, 2.021484375, 41.38817596435547, 0, 0, 0 ]
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3.36
84
0
84
0
[ 5.80078125, 193.798828125, 159.169921875, 64.072265625, 2.021484375, 42.93059158325195, 0, 0, 0 ]
[ 5.888671875, 192.83203125, 167.6953125, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
3.4
85
0
85
0
[ 5.80078125, 193.7109375, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.888671875, 192.83203125, 167.6953125, 63.10546875, 0.966796875, 0.4830917716026306, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
3.44
86
0
86
0
[ 5.80078125, 193.7109375, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.80078125, 192.83203125, 167.431640625, 63.10546875, 0.966796875, 0.4830917716026306, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
3.48
87
0
87
0
[ 5.80078125, 193.7109375, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.744140625, 166.9921875, 63.10546875, 0.966796875, 0.4830917716026306, 1.2783173322677612, 2.2141106128692627, -1.171875 ]
3.52
88
0
88
0
[ 5.80078125, 193.7109375, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.2734375, 192.744140625, 164.443359375, 63.10546875, 0.966796875, 0.9661835432052612, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.56
89
0
89
0
[ 5.80078125, 193.623046875, 159.08203125, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.09765625, 192.83203125, 161.455078125, 63.10546875, 0.966796875, 6.763284683227539, -2.5566346645355225, -4.428221225738525, -1.171875 ]
3.6
90
0
90
0
[ 5.80078125, 193.623046875, 159.08203125, 64.16015625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 4.833984375, 192.65625, 160.6640625, 63.10546875, 0.966796875, 7.72946834564209, -1.2783173322677612, -2.2141106128692627, 1.171875 ]
3.64
91
0
91
0
[ 5.80078125, 193.623046875, 158.994140625, 64.16015625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.744140625, 160.6640625, 63.10546875, 1.845703125, 18.0676326751709, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.68
92
0
92
0
[ 5.80078125, 193.623046875, 158.994140625, 64.16015625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.83203125, 160.6640625, 63.10546875, 1.7578125, 24.734298706054688, 0, 0, 0 ]
3.72
93
0
93
0
[ 5.712890625, 193.623046875, 158.90625, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.83203125, 160.6640625, 63.10546875, 1.845703125, 28.115943908691406, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
3.76
94
0
94
0
[ 5.625, 193.623046875, 159.08203125, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.83203125, 160.6640625, 63.10546875, 1.845703125, 34.29951477050781, 0, 0, 0 ]
3.8
95
0
95
0
[ 4.833984375, 193.53515625, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 5.009765625, 192.83203125, 160.6640625, 63.6328125, 1.845703125, 37.39130401611328, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
3.84
96
0
96
0
[ 3.603515625, 193.53515625, 159.169921875, 64.072265625, 2.021484375, 43.187660217285156, 0, 0, 0 ]
[ 4.921875, 192.83203125, 160.6640625, 63.984375, 1.845703125, 42.31884002685547, -3.834951877593994, 2.2141106128692627, 1.209425529902304e-18 ]
3.88
97
0
97
0
[ 2.724609375, 193.53515625, 159.169921875, 64.072265625, 2.109375, 43.187660217285156, 0, 0, 0 ]
[ 4.921875, 192.83203125, 160.6640625, 63.984375, 1.845703125, 42.51207733154297, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
3.92
98
0
98
0
[ 2.4609375, 193.53515625, 159.08203125, 64.072265625, 2.109375, 43.187660217285156, 0, 0, 0 ]
[ 4.921875, 192.83203125, 160.6640625, 63.984375, 1.845703125, 42.51207733154297, -1.2783173322677612, -2.2141106128692627, 1.171875 ]
3.96
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": 3,
    "total_frames": 1806,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:3"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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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,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "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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