THULab/Mwuqiu_So100_Four_Tasks

SO100 Four Tasks TsFile

Apache TsFile edition of Mwuqiu/So100_Four_Tasks, a LeRobot v2.1 SO100 manipulation dataset. The numeric trajectories are stored in one table-model TsFile.

Source and attribution

• Original author, repository owner, and uploader: WuQiu (Mwuqiu).
• License: Apache-2.0.
• The source card does not provide a homepage, paper, or completed BibTeX citation.
• Split: train; 100 episodes; 44,599 frame rows; five tasks; 30 FPS; 100 source Parquet shards.
• The repository name says Four_Tasks, while its current meta/info.json and meta/tasks.jsonl contain five tasks. The current metadata and Parquet data are used here.

Task index	Task	Episodes	Rows
0	Put the red square sponge into the box	20	8,641
1	Put the green square sponge into the box	20	8,984
2	Put the yellow duck into the box	20	9,286
3	Put the black duck into the box	20	9,230
4	Put the blue square sponge into the box	20	8,458

Data layout

The table is mwuqiu_so100_four_tasks and contains 44,599 rows across 100 TAG devices. The source Parquet shards total 2,460,918 bytes; the TsFile is 864,985 bytes (35.1% of the source Parquet size).

Column	TsFile role	Type	Meaning
Time	TIME	INT64 milliseconds	round(timestamp * 1000), restarting at zero per episode
episode_index	TAG	STRING from source INT64	Source episode identity
task_index	TAG	STRING from source INT64	Source task identity
frame_index	FIELD	INT64	Frame position within the episode
sample_index	FIELD	INT64	Source index, renamed for clarity
action_0 ... action_5	FIELD	FLOAT	Flattened action[6]
observation_state_0 ... observation_state_5	FIELD	FLOAT	Flattened observation.state[6]

timestamp is not retained as a separate FIELD because it is represented by Time / 1000 seconds. The vector column names preserve their source prefixes, with dots changed to underscores. No trajectory row, episode, task, action dimension, or state dimension is removed.

The data/ directory contains only mwuqiu_so100_four_tasks.tsfile. Source metadata remains under meta/; source trajectory Parquet files are not placed in meta/.

Videos and alignment

The 200 source H.264 videos are not included here. They remain under videos/chunk-000 in the original repository:

• observation.images.topview: 100 files, 315,226,127 bytes
• observation.images.wristview: 100 files, 491,561,693 bytes

The source template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Use episode_index and frame_index to align each numeric row with both 30 FPS video streams.

Read example

from tsfile import TsFileReader

reader = TsFileReader("data/mwuqiu_so100_four_tasks.tsfile")
with reader.query_table(
    "mwuqiu_so100_four_tasks",
    ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"],
    batch_size=1024,
) as result:
    batch = result.read_arrow_batch()
    print(batch.to_pandas().head())
reader.close()