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Datasets:
pepijn223
/
lekiwi_refactor_31747832784

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
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pandas
License:
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action.state
sequence
observation.state
sequence
timestamp
float32
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49.9
frame_index
int64
0
499
episode_index
int64
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0
index
int64
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task_index
int64
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4
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4.1
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4.2
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4.3
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
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9
90
0
90
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.0929926410317421, 0.0025566346012055874, -0.5859375 ]
9.1
91
0
91
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09963497519493103, -0.0012783173006027937, -0.5859375 ]
9.2
92
0
92
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.10184908658266068, -0.01022653840482235, 2.34375 ]
9.3
93
0
93
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09520675241947174, -0.003834951901808381, 2.0120351807651686e-16 ]
9.4
94
0
94
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09742086380720139, 0.01022653840482235, -2.34375 ]
9.5
95
0
95
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09742086380720139, 0.01022653840482235, -2.34375 ]
9.6
96
0
96
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0.10000000149011612, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09963497519493103, -0.0012783173006027937, 1.171875 ]
9.7
97
0
97
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09742086380720139, 4.22127265147398e-18, 3.4461146353281064e-16 ]
9.8
98
0
98
0
[ -21.00694465637207, -99.32829284667969, 99.81892395019531, 54.37751007080078, -3.1990232467651367, 0.15082956850528717, 0, 0, 0 ]
[ -20.593692779541016, -99.29390716552734, 98.36511993408203, 44.761905670166016, -3.247863292694092, 0.5398110747337341, 0.09742086380720139, 4.22127265147398e-18, 3.4461146353281064e-16 ]
9.9
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_client",
    "total_episodes": 1,
    "total_frames": 500,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
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        },
        "observation.images.wrist": {
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            "shape": [
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                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "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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