THULab/Tank-123_so101_test

SO101 Test TsFile

This Apache TsFile dataset is based on Tank-123/so101_test, a LeRobot v2.1 SO101 robot dataset. The recorded task is to grasp a LEGO block and put it in the bin.

Source

• Repository owner, publisher, and visible contributor: Tank (Tank-123)
• License: Apache-2.0
• Paper or formal citation: not supplied by the source dataset card
• Robot type: so101
• Split: train
• Sampling rate: 30 fps
• Scale: 50 episodes, 18,537 frame rows, 1 task, 50 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 LEGO block and put it in the bin."

TsFile Data

• Path: data/tank_123_so101_test.tsfile
• Table: tank_123_so101_test
• Rows: 18,537
• Episode/task devices: 50
• Time precision: milliseconds
• Source numeric-data size: 1,009,764 bytes
• TsFile size: 347,560 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.

Videos

Videos are not included here. The original repository stores two 640x480 AV1 MP4 streams per episode at 30 fps without audio: observation.images.laptop and observation.images.phone. The source video directory contains 100 files and is displayed as about 406 MB on Hugging Face. episode_index and frame_index preserve alignment with both original per-episode streams.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/tank_123_so101_test.tsfile")
with reader.query_table(
    "tank_123_so101_test",
    ["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, Tank-123.