| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - timeseries |
| - tsfile |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| pretty_name: aloha_static_fork_pick_up TsFile |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/aloha_static_fork_pick_up.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # aloha_static_fork_pick_up TsFile |
|
|
| This dataset is an Apache TsFile conversion of the Hugging Face dataset |
| [`lerobot/aloha_static_fork_pick_up`](https://huggingface.co/datasets/lerobot/aloha_static_fork_pick_up). |
| The source dataset was created with [LeRobot](https://github.com/huggingface/lerobot) |
| and is licensed under Apache 2.0. |
|
|
| Modalities: Time-series. The original visual MP4 streams remain available in |
| the source dataset; this repository stores the numeric robot state, effort, |
| action, frame metadata, task index, and episode tags as TsFile. |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`lerobot/aloha_static_fork_pick_up`](https://huggingface.co/datasets/lerobot/aloha_static_fork_pick_up) |
| - Source task: `"Pick up the fork and place it on the plate."` |
| - Codebase version: LeRobot `v3.0` |
| - Robot type: `unknown` |
| - Split: `train` (`0:100`) |
| - Episodes: `100` |
| - Frames: `60,000` |
| - Sampling rate: `50 fps` |
| - Tasks: `1` |
| - Source data path: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet` |
| - Source video path: `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4` |
|
|
| ## Converted Files |
|
|
| - TsFile: `data/aloha_static_fork_pick_up.tsfile` |
| - Rows: `60,000` |
| - Table name: `aloha_static_fork_pick_up` |
| - Time precision: milliseconds |
| - Mirrored metadata: `meta/`, with `meta/info.json` updated for the TsFile artifact |
|
|
| ## Schema |
|
|
| `Time` is generated as `round(timestamp * 1000)` milliseconds. Time restarts |
| within each episode, and devices are identified by the original LeRobot tag |
| columns. |
|
|
| - TAG columns: `episode_index`, `task_index` |
| - FIELD metadata columns: `frame_index`, `sample_index`, `next_done` |
| - FIELD vectors: `observation_state_0..observation_state_13`, |
| `observation_effort_0..observation_effort_13`, and `action_0..action_13` |
|
|
| The `next_done` field is stored as an INT64 flag: `0` means false and `1` means |
| true. The converted data has `100` true flags, one terminal frame per episode. |
|
|
| ## Conversion Notes |
|
|
| - The source `timestamp` column is dropped after being mapped to `Time`; it is |
| recoverable as `Time / 1000` seconds. |
| - The source `index` column is renamed to `sample_index`. |
| - The source `next.done` column is renamed to `next_done` and stored as `0/1` |
| for stable TsFile readback. |
| - Vector columns are flattened by preserving the full source column name, |
| replacing `.` with `_`, and appending the element index. |
| - Source video features are not uploaded here: |
| `observation.images.cam_high`, `observation.images.cam_left_wrist`, |
| `observation.images.cam_low`, and `observation.images.cam_right_wrist`. |
| Use the original dataset's [`videos/`](https://huggingface.co/datasets/lerobot/aloha_static_fork_pick_up/tree/main/videos) |
| tree for the visual streams. |
| - Aside from the redundant `timestamp` column and omitted video files, no |
| numeric time-series rows are intentionally dropped. |
|
|
| ## Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/aloha_static_fork_pick_up.tsfile" |
| |
| with TsFileReader(path) as reader: |
| tables = reader.get_all_table_schemas() |
| print(tables.keys()) |
| ``` |
|
|
