akabeko_instruct_v1

This dataset is a TsFile conversion of akira-sasaki/akabeko_instruct_v1, a LeRobot SO-100 robot dataset.

Source Dataset

• Original dataset: akira-sasaki/akabeko_instruct_v1
• Original license: apache-2.0
• Robot type: so100
• Modalities: Time-series
• Source sampling rate: 30 fps
• Source scale: 300 episodes, 89,917 frames, 5 tasks
• Source videos: 600 videos in the original dataset under videos/

The source task list is:

• task_index=0: Pick up the cube and place it in the box.
• task_index=1: Remove the cube from the box.
• task_index=2: Pick up the pen and put it in the pen holder.
• task_index=3: Pick up the yellow tape and place it in the box.
• task_index=4: Remove the yellow tape from the box.

TsFile Conversion

The converted dataset stores the numeric robot time-series data in one TsFile:

• data/akabeko_instruct_v1.tsfile

Conversion summary:

• Rows: 89,917
• Episodes: 300
• Time precision: milliseconds
• Table name: akabeko_instruct_v1
• TAG columns: episode_index, task_index
• Time mapping: Time = round(timestamp * 1000)
• Dropped source column: timestamp, because it is represented by Time / 1000
• Renamed source column: index to sample_index
• Omitted source video features: observation.images.laptop, observation.images.phone

The meta/ directory is mirrored from the source dataset, with meta/info.json updated to describe the converted TsFile artifact and the video policy. Videos are not included in this converted repository; use the original dataset if frame-aligned videos are needed.

Schema

Time is the TsFile time column in milliseconds. episode_index and task_index are TAG columns. Remaining columns are FIELD measurements:

• frame_index
• sample_index
• action_0 through action_5
• observation_state_0 through observation_state_5

The 6 action and observation-state dimensions follow the source joint order:

• main_shoulder_pan
• main_shoulder_lift
• main_elbow_flex
• main_wrist_flex
• main_wrist_roll
• main_gripper

Usage

Read the TsFile with Apache TsFile tools or SDKs. Example path:

data/akabeko_instruct_v1.tsfile

To inspect a single episode in SQL-style tools, filter by the TAG:

SELECT *
FROM akabeko_instruct_v1
WHERE episode_index = 0;