| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - timeseries |
| - tsfile |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| pretty_name: "2view_random50 TsFile" |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/two_view_random50.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # 2view_random50 TsFile |
| |
| This dataset is an Apache TsFile conversion of the Hugging Face dataset |
| [`iiyudana/2view_random50`](https://huggingface.co/datasets/iiyudana/2view_random50). |
| The source dataset was created with [LeRobot](https://github.com/huggingface/lerobot) |
| and is licensed under Apache 2.0. |
| |
| Modalities: Time-series. The original visual MP4 streams remain available in |
| the source dataset; this repository stores the numeric robot state, action, |
| frame metadata, task index, and episode tags as TsFile. |
| |
| ## Source Dataset |
| |
| - Original dataset: [`iiyudana/2view_random50`](https://huggingface.co/datasets/iiyudana/2view_random50) |
| - Source task: `"Pick up the cube with the right arm and transfer it to the left arm."` |
| - Codebase version: LeRobot `v2.1` |
| - Robot type: `aloha` |
| - Split: `train` (`0:50`) |
| - Episodes: `50` |
| - Frames: `20,000` |
| - Sampling rate: `50 fps` |
| - Tasks: `1` |
| - Videos: `100` MP4 files across `observation.images.top` and |
| `observation.images.right_wrist` |
| - Source data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` |
| - Source video path: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` |
|
|
| ## Converted Files |
|
|
| - TsFile: `data/two_view_random50.tsfile` |
| - Rows: `20,000` |
| - Table name: `two_view_random50` |
| - Time precision: milliseconds |
| - Mirrored metadata: `meta/`, with `meta/info.json` updated for the TsFile artifact |
|
|
| ## Schema |
|
|
| `Time` is generated as `round(timestamp * 1000)` milliseconds. Time restarts |
| within each episode, and devices are identified by the original LeRobot tag |
| columns. |
|
|
| - TAG columns: `episode_index`, `task_index` |
| - FIELD metadata columns: `frame_index`, `sample_index` |
| - FIELD vectors: `observation_state_0..observation_state_13` and |
| `action_0..action_13` |
|
|
| ## Conversion Notes |
|
|
| - The source `timestamp` column is dropped after being mapped to `Time`; it is |
| recoverable as `Time / 1000` seconds. |
| - The source `index` column is renamed to `sample_index`. |
| - Vector columns are flattened by preserving the full source column name, |
| replacing `.` with `_`, and appending the element index. |
| - Source video features are not uploaded here: `observation.images.top` and |
| `observation.images.right_wrist`. Use the original dataset's |
| [`videos/`](https://huggingface.co/datasets/iiyudana/2view_random50/tree/main/videos) |
| tree for the visual streams. |
| - Aside from the redundant `timestamp` column and omitted video files, no |
| numeric time-series rows are intentionally dropped. |
|
|
| ## Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/two_view_random50.tsfile" |
| |
| with TsFileReader(path) as reader: |
| tables = reader.get_all_table_schemas() |
| print(tables.keys()) |
| ``` |
|
|
