Hugging Face's logo

Datasets:
Chafinch
/
COF8

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
2.17
frame_index
int64
0
65
episode_index
int64
0
0
index
int64
0
65
task_index
int64
0
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.023345947265625, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0
0
0
0
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.023345947265625, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.033333
1
0
1
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.066667
2
0
2
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.1
3
0
3
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.133333
4
0
4
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.166667
5
0
5
0
[ -7.5081610679626465, -97.3619155883789, 87.57819366455078, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.2
6
0
6
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -62.075225830078125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.233333
7
0
7
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.971466064453125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.266667
8
0
8
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.971466064453125, 15.31204605102539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.3
9
0
9
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.971466064453125, 15.239477157592773 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.333333
10
0
10
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.919586181640625, 15.094339370727539 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.366667
11
0
11
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.86770248413086, 15.021770477294922 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.4
12
0
12
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.433333
13
0
13
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.466667
14
0
14
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.80162811279297, -62.075225830078125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.5
15
0
15
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.533333
16
0
16
0
[ -7.5081610679626465, -97.3619155883789, 87.66755676269531, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.566667
17
0
17
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.6
18
0
18
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.633333
19
0
19
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.666667
20
0
20
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.7
21
0
21
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.733333
22
0
22
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.766667
23
0
23
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -62.12710952758789, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.8
24
0
24
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.833333
25
0
25
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.866667
26
0
26
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.9
27
0
27
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.933333
28
0
28
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
0.966667
29
0
29
0
[ -7.5081610679626465, -97.3619155883789, 87.75692749023438, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1
30
0
30
0
[ -7.5081610679626465, -97.3619155883789, 87.8462905883789, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.21942138671875, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.033333
31
0
31
0
[ -7.5081610679626465, -97.3619155883789, 88.29312133789062, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.39928436279297, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.066667
32
0
32
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.39928436279297, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.1
33
0
33
0
[ -7.5081610679626465, -97.3619155883789, 88.65058135986328, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 88.75899505615234, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.133333
34
0
34
0
[ -7.5081610679626465, -97.3619155883789, 88.65058135986328, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.20863342285156, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.166667
35
0
35
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.2
36
0
36
0
[ -7.5081610679626465, -97.3619155883789, 88.47184753417969, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.233333
37
0
37
0
[ -7.5081610679626465, -97.3619155883789, 88.47184753417969, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.266667
38
0
38
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.3
39
0
39
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.333333
40
0
40
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.366667
41
0
41
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.4
42
0
42
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.433333
43
0
43
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.971466064453125, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.466667
44
0
44
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.5
45
0
45
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.533333
46
0
46
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.566667
47
0
47
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.6
48
0
48
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.633333
49
0
49
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.666667
50
0
50
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.7
51
0
51
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.733333
52
0
52
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.766667
53
0
53
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.8
54
0
54
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.833333
55
0
55
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.866667
56
0
56
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.9
57
0
57
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.933333
58
0
58
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
1.966667
59
0
59
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.919586181640625, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2
60
0
60
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2.033333
61
0
61
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2.066667
62
0
62
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2.1
63
0
63
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2.133333
64
0
64
0
[ -7.5081610679626465, -97.3619155883789, 88.56121826171875, 75.88713073730469, -61.86770248413086, 14.949201583862305 ]
[ -6.929861545562744, -97.1807632446289, 89.2985610961914, 76.81159210205078, -61.86915969848633, 14.794520378112793 ]
2.166667
65
0
65
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 1,
    "total_frames": 66,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
26
License:
apache-2.0
Size of downloaded dataset files:
5.19 kB
Size of the auto-converted Parquet files:
5.19 kB
Number of rows:
66