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Datasets:
rgarreta
/
lekiwi_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
lekiwi
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
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float32
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29.4
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int64
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[ 73.740234375, 110.7421875, 68.466796875, 91.23046875, -50.888671875, 49.772727966308594, -3.834951877593994, -2.2141106128692627, 1.7578125 ]
2.066667
62
0
62
0
[ 73.037109375, 109.599609375, 71.19140625, 78.57421875, -33.3984375, 49.921875, 0, 0, 0 ]
[ 74.443359375, 110.830078125, 68.994140625, 91.23046875, -50.9765625, 49.772727966308594, 4.3104230842394542e-16, 8.85644245147705, -1.7578125 ]
2.1
63
0
63
0
[ 71.89453125, 109.599609375, 71.19140625, 77.783203125, -32.87109375, 49.833984375, 0, 0, 0 ]
[ 75.41015625, 110.302734375, 69.873046875, 90.52734375, -50.09765625, 49.772727966308594, 10.22653865814209, -4.428221225738525, 4.6875 ]
2.133333
64
0
64
0
[ 70.751953125, 109.6875, 71.103515625, 77.255859375, -31.9921875, 49.833984375, 0, 0, 0 ]
[ 75.41015625, 110.302734375, 69.873046875, 90.52734375, -50.09765625, 49.772727966308594, 10.22653865814209, -4.428221225738525, 4.6875 ]
2.166667
65
0
65
0
[ 69.08203125, 109.6875, 71.19140625, 76.46484375, -31.376953125, 49.833984375, 0, 0, 0 ]
[ 76.201171875, 109.51171875, 70.751953125, 88.59375, -49.39453125, 49.39393997192383, 8.948221206665039, 6.642331600189209, 0.5859375 ]
2.2
66
0
66
0
[ 67.67578125, 109.6875, 71.19140625, 76.11328125, -30.9375, 49.833984375, 0, 0, 0 ]
[ 77.51953125, 109.072265625, 71.71875, 87.451171875, -47.4609375, 49.16666793823242, -1.2783173322677612, -2.2141106128692627, -0.5859375 ]
2.233333
67
0
67
0
[ 65.7421875, 109.599609375, 71.19140625, 76.025390625, -30.9375, 49.833984375, 0, 0, 0 ]
[ 78.486328125, 108.80859375, 72.24609375, 87.71484375, -47.197265625, 49.01515197753906, -10.22653865814209, 13.284663200378418, -2.9296875 ]
2.266667
68
0
68
0
[ 63.80859375, 109.599609375, 71.19140625, 76.025390625, -30.849609375, 49.833984375, 0, 0, 0 ]
[ 78.486328125, 108.80859375, 72.24609375, 87.71484375, -47.197265625, 49.01515197753906, -10.22653865814209, 13.284663200378418, -2.9296875 ]
2.3
69
0
69
0
[ 61.611328125, 109.599609375, 71.19140625, 76.025390625, -30.5859375, 49.833984375, 0, 0, 0 ]
[ 80.419921875, 108.720703125, 73.125, 86.572265625, -45.263671875, 49.01515197753906, -2.5566346645355225, -8.85644245147705, -1.171875 ]
2.333333
70
0
70
0
[ 59.677734375, 109.599609375, 71.279296875, 76.025390625, -30.146484375, 49.833984375, 0, 0, 0 ]
[ 80.419921875, 108.720703125, 73.125, 86.572265625, -45.263671875, 49.01515197753906, -2.5566346645355225, -8.85644245147705, -1.171875 ]
2.366667
71
0
71
0
[ 57.392578125, 109.599609375, 71.3671875, 76.025390625, -29.1796875, 49.833984375, 0, 0, 0 ]
[ 81.650390625, 108.720703125, 73.212890625, 85.95703125, -43.330078125, 49.01515197753906, 5.113269329071045, -2.7270763073378114e-16, 0.5859375 ]
2.4
72
0
72
0
[ 55.283203125, 109.599609375, 71.455078125, 76.025390625, -28.212890625, 49.833984375, 0, 0, 0 ]
[ 82.001953125, 108.896484375, 73.212890625, 85.517578125, -43.2421875, 49.01515197753906, 5.113269329071045, 8.85644245147705, 0.5859375 ]
2.433333
73
0
73
0
[ 52.91015625, 109.599609375, 71.630859375, 76.025390625, -27.24609375, 49.833984375, 0, 0, 0 ]
[ 81.73828125, 108.896484375, 72.94921875, 85.517578125, -42.1875, 49.01515197753906, -2.5566346645355225, -13.284663200378418, -1.171875 ]
2.466667
74
0
74
0
[ 50.361328125, 109.599609375, 72.0703125, 76.11328125, -26.279296875, 49.833984375, 0, 0, 0 ]
[ 81.2109375, 108.80859375, 72.94921875, 85.517578125, -41.484375, 49.01515197753906, -1.2783173322677612, 2.2141106128692627, 1.171875 ]
2.5
75
0
75
0
[ 47.548828125, 109.599609375, 72.685546875, 76.025390625, -25.6640625, 49.658203125, 0, 0, 0 ]
[ 80.771484375, 108.720703125, 72.94921875, 85.517578125, -41.1328125, 49.01515197753906, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.533333
76
0
76
0
[ 44.384765625, 109.6875, 73.564453125, 76.11328125, -25.13671875, 48.515625, 0, 0, 0 ]
[ 80.5078125, 108.6328125, 72.94921875, 85.517578125, -41.572265625, 49.01515197753906, -2.5566346645355225, 8.85644245147705, 4.1015625 ]
2.566667
77
0
77
0
[ 41.1328125, 109.6875, 74.619140625, 76.11328125, -24.345703125, 47.548828125, 0, 0, 0 ]
[ 80.068359375, 108.720703125, 72.94921875, 85.517578125, -39.19921875, 49.01515197753906, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.6
78
0
78
0
[ 38.232421875, 109.6875, 75.498046875, 76.11328125, -23.291015625, 46.93359375, 0, 0, 0 ]
[ 80.068359375, 108.720703125, 72.94921875, 85.517578125, -39.19921875, 49.01515197753906, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.633333
79
0
79
0
[ 35.419921875, 109.6875, 76.2890625, 76.11328125, -22.67578125, 46.845703125, 0, 0, 0 ]
[ 80.068359375, 108.720703125, 72.94921875, 85.517578125, -39.19921875, 49.01515197753906, -1.2783173322677612, 2.2141106128692627, -0.5859375 ]
2.666667
80
0
80
0
[ 32.34375, 109.6875, 77.16796875, 76.11328125, -22.060546875, 46.845703125, 0, 0, 0 ]
[ 80.15625, 108.720703125, 72.509765625, 85.517578125, -38.49609375, 49.01515197753906, 1.2783173322677612, -2.2141106128692627, 0.5859375 ]
2.7
81
0
81
0
[ 29.00390625, 109.775390625, 78.22265625, 76.11328125, -21.4453125, 46.845703125, 0, 0, 0 ]
[ 79.453125, 108.720703125, 72.158203125, 85.517578125, -38.232421875, 49.01515197753906, -1.2783173322677612, -2.2141106128692627, -7.6171875 ]
2.733333
82
0
82
0
[ 25.576171875, 109.775390625, 79.453125, 76.201171875, -20.654296875, 46.845703125, 0, 0, 0 ]
[ 76.376953125, 108.720703125, 72.158203125, 82.353515625, -35.5078125, 49.01515197753906, -2.5566346645355225, 4.428221225738525, 4.1015625 ]
2.766667
83
0
83
0
[ 22.5, 109.775390625, 80.68359375, 76.201171875, -20.126953125, 46.845703125, 0, 0, 0 ]
[ 76.11328125, 108.720703125, 72.158203125, 80.5078125, -33.92578125, 49.01515197753906, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.8
84
0
84
0
[ 20.0390625, 109.6875, 81.650390625, 76.201171875, -19.423828125, 46.845703125, 0, 0, 0 ]
[ 76.11328125, 108.720703125, 72.158203125, 80.5078125, -33.92578125, 49.01515197753906, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.833333
85
0
85
0
[ 17.138671875, 109.3359375, 82.96875, 76.2890625, -18.544921875, 46.845703125, 0, 0, 0 ]
[ 76.640625, 108.720703125, 72.158203125, 80.419921875, -33.92578125, 49.01515197753906, 0, 0, 0 ]
2.866667
86
0
86
0
[ 14.853515625, 108.80859375, 84.287109375, 76.2890625, -18.28125, 46.845703125, 0, 0, 0 ]
[ 76.025390625, 108.720703125, 72.158203125, 80.419921875, -33.92578125, 49.01515197753906, -1.2783173322677612, -2.2141106128692627, -4.1015625 ]
2.9
87
0
87
0
[ 12.568359375, 107.841796875, 85.25390625, 76.201171875, -17.490234375, 46.93359375, 0, 0, 0 ]
[ 74.794921875, 108.720703125, 72.158203125, 79.365234375, -33.3984375, 49.01515197753906, -5.113269329071045, 4.428221225738525, -2.34375 ]
2.933333
88
0
88
0
[ 10.283203125, 107.2265625, 86.396484375, 76.201171875, -16.875, 46.93359375, 0, 0, 0 ]
[ 74.794921875, 108.720703125, 72.158203125, 79.365234375, -33.3984375, 49.01515197753906, -5.113269329071045, 4.428221225738525, -2.34375 ]
2.966667
89
0
89
0
[ 7.998046875, 106.171875, 87.451171875, 76.201171875, -16.435546875, 46.93359375, 0, 0, 0 ]
[ 73.388671875, 108.720703125, 72.158203125, 78.486328125, -33.662109375, 49.01515197753906, -2.6385572615338987e-18, -4.428221225738525, 1.7578125 ]
3
90
0
90
0
[ 6.328125, 105.64453125, 88.41796875, 76.201171875, -16.34765625, 47.021484375, 0, 0, 0 ]
[ 72.7734375, 108.720703125, 72.158203125, 78.3984375, -32.958984375, 49.01515197753906, 1.2783173322677612, 2.2141106128692627, 2.34375 ]
3.033333
91
0
91
0
[ 4.482421875, 104.0625, 89.296875, 76.201171875, -16.083984375, 47.197265625, 0, 0, 0 ]
[ 72.7734375, 108.720703125, 72.158203125, 78.3984375, -32.958984375, 49.01515197753906, 1.2783173322677612, 2.2141106128692627, 2.34375 ]
3.066667
92
0
92
0
[ 2.548828125, 103.0078125, 90.17578125, 76.201171875, -15.99609375, 47.28515625, 0, 0, 0 ]
[ 70.751953125, 108.720703125, 72.158203125, 77.080078125, -30.849609375, 49.01515197753906, -2.5566346645355225, 8.85644245147705, -2.9296875 ]
3.1
93
0
93
0
[ 1.318359375, 101.77734375, 91.142578125, 76.201171875, -16.083984375, 47.548828125, 0, 0, 0 ]
[ 67.5, 108.720703125, 72.158203125, 76.46484375, -30.41015625, 49.01515197753906, 3.834951877593994, 6.642331600189209, -7.03125 ]
3.133333
94
0
94
0
[ 0.3515625, 101.07421875, 92.021484375, 76.201171875, -15.99609375, 47.724609375, 0, 0, 0 ]
[ 64.951171875, 108.720703125, 72.158203125, 76.376953125, -30.146484375, 49.01515197753906, 4.3104230842394542e-16, 8.85644245147705, -1.7578125 ]
3.166667
95
0
95
0
[ -0.703125, 99.755859375, 92.63671875, 76.201171875, -16.083984375, 47.724609375, 0, 0, 0 ]
[ 62.666015625, 108.720703125, 72.158203125, 76.376953125, -29.794921875, 49.01515197753906, -3.834951877593994, 6.642331600189209, -1.7578125 ]
3.2
96
0
96
0
[ -1.58203125, 99.31640625, 93.515625, 76.201171875, -16.083984375, 47.8125, 0, 0, 0 ]
[ 58.974609375, 108.720703125, 72.158203125, 76.376953125, -28.916015625, 49.01515197753906, -1.5769703658142717e-15, -4.428221225738525, -7.03125 ]
3.233333
97
0
97
0
[ -2.109375, 97.55859375, 94.04296875, 76.11328125, -16.171875, 47.900390625, 0, 0, 0 ]
[ 51.943359375, 108.6328125, 72.158203125, 76.376953125, -26.806640625, 49.01515197753906, -10.22653865814209, -8.85644245147705, 5.859375 ]
3.266667
98
0
98
0
[ -2.373046875, 95.888671875, 94.04296875, 76.11328125, -16.259765625, 48.515625, 0, 0, 0 ]
[ 51.943359375, 108.6328125, 72.158203125, 76.376953125, -27.509765625, 49.01515197753906, 5.113269329071045, 4.428221225738525, -2.9296875 ]
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_with_koch",
    "total_episodes": 2,
    "total_frames": 1004,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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"
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        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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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",
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                "video.is_depth_map": false,
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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