abc_130k_v3_smoke (TsFile)

Apache TsFile version of lerobot/abc_130k_v3_smoke.

Overview

This dataset is a LeRobot v3.0 bimanual dataset (a smoke-test slice of the ABC-130K corpus) recorded with a YAM bimanual arm.

• Robot: Yam bimanual (yam_bimanual)
• Scale: 85 episodes, 313,094 frames, 30 fps
• Split: train
• Cameras (not uploaded): top, left_wrist, right_wrist

Schema (TsFile structure)

The TsFile table is named abc_130k_v3_smoke.

Role	Columns
Time	Time, INT64 milliseconds
TAG	episode_index, task_index
FIELD	frame_index, sample_index
FIELD	observation_state_0 … observation_state_13
FIELD	action_0 … action_13

Vector columns are flattened into scalar FLOAT measurements (single precision). The source index column is retained as sample_index.

Conversion notes

• Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
• The original timestamp field is omitted because it is exactly represented by Time / 1000.
• Camera video streams are NOT included in this repository; they remain in the source videos tree.
• The two language-annotation columns language_persistent (a list of structured message objects) and language_events (an empty list) are non-scalar and are NOT included in the TsFile; language instructions remain in the original dataset parquet.
• meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example

from tsfile import TsFileReader

with TsFileReader("data/abc_130k_v3_smoke.tsfile") as reader:
    print(reader.get_all_table_schemas()["abc_130k_v3_smoke"])

Source & license

• Original dataset: https://huggingface.co/datasets/lerobot/abc_130k_v3_smoke
• Author: lerobot
• License: apache-2.0