THULab/HITHY_so100_strawberry

SO100 Strawberry TsFile

This Apache TsFile dataset is based on HITHY/so100_strawberry, a LeRobot v2.0 SO100 robot dataset. The recorded task is to grasp a strawberry and put it in the bin.

Source

• Repository owner, publisher, and visible contributor: HITHY
• License: Apache-2.0
• Paper or formal citation: not supplied by the source dataset card
• Robot type: so100
• Split: train
• Sampling rate: 30 fps
• Scale: 153 episodes, 40,834 frame rows, 1 task, 153 source data files
• Source data layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Source video layout: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

Task index 0 is "Grasp a strawberry and put it in the bin."

TsFile Data

• Path: data/hithy_so100_strawberry.tsfile
• Table: hithy_so100_strawberry
• Rows: 40,834
• Episode/task devices: 153
• Time precision: milliseconds
• Source numeric-data size: 2,697,941 bytes
• TsFile size: 1,044,934 bytes

The train split is one table. Use episode_index and task_index as TAG filters to select an episode or task.

Schema

Time = round(timestamp * 1000) milliseconds and restarts at zero in every episode. Source timestamp is omitted because it equals Time / 1000 seconds.

Column	TsFile role	Type	Source mapping
Time	TIME	INT64	round(timestamp * 1000)
episode_index	TAG	STRING device segment	Source episode_index
task_index	TAG	STRING device segment	Source task_index
frame_index	FIELD	INT64	Preserved
sample_index	FIELD	INT64	Source index
action_0 ... action_5	FIELD	FLOAT	Flattened from action[6]
observation_state_0 ... observation_state_5	FIELD	FLOAT	Flattened from observation.state[6]

The six action and state dimensions are main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper. All source rows, episodes, tasks, action dimensions, and state dimensions are retained.

Numeric storage uses GORILLA + LZ4 for FLOAT/DOUBLE fields, TS_2DIFF + LZ4 for INT32/INT64 fields, and TS_2DIFF + LZ4 for Time. BOOLEAN fields would use RLE + LZ4; this schema has no BOOLEAN field. TAG values use the TsFile table/device mechanism.

Videos

Videos are not included here. The original repository stores one 640x480 H.264 laptop-camera MP4 per episode at 30 fps without audio. The observation.images.laptop video directory contains 153 files and is displayed as about 370 MB on Hugging Face. episode_index and frame_index preserve alignment with the original per-episode files.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/hithy_so100_strawberry.tsfile")
with reader.query_table(
    "hithy_so100_strawberry",
    ["episode_index", "task_index", "frame_index", "sample_index",
     "action_0", "observation_state_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

Citation

The source card does not provide a paper or completed citation. Cite the original Hugging Face repository and its owner/publisher, HITHY.