Battery SO-101 TsFile

This dataset is a TsFile conversion of the Hugging Face dataset chirag1701/battery, which was created using LeRobot.

Modalities: Time-series. The original dataset also includes two video streams, observation.images.up and observation.images.wrist; those videos are not included in this repository and remain available in the source dataset.

Source Dataset

• Original dataset: chirag1701/battery
• License: Apache-2.0
• Format: LeRobot v2.1
• Robot type: so101_follower
• Task: pick the battery and keep it into the box
• Split: single train split (0:50)
• Scale: 50 episodes, 26,439 frames, 1 task, 1 data chunk
• Sampling rate: 30 fps
• Original video features:
  • observation.images.up at 480x640x3
  • observation.images.wrist at 480x640x3

Converted Files

• TsFile: data/battery.tsfile
• Rows: 26,439
• Episodes: 50
• Tasks: 1 (task_index = 0)
• Table name: battery
• Time precision: milliseconds
• Metadata: meta/ is mirrored from the source dataset, with meta/info.json rewritten to describe the TsFile artifact and conversion mapping.

Schema

Column	Role	Type	Notes
Time	TIME	INT64	round(timestamp * 1000), in milliseconds; restarts per episode
episode_index	TAG	INT64	Source episode identifier
task_index	TAG	INT64	Source task identifier
frame_index	FIELD	INT64	Source frame index, preserved
sample_index	FIELD	INT64	Renamed from 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 source action and state element names are shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos.

episode_index and task_index are TAG columns, so they form the TsFile device dimension. To read one episode, filter by episode_index.

Conversion Notes

• The LeRobot frame Parquet files under data/chunk-000/ were merged into one TsFile for the train split.
• Vector columns were flattened by preserving the source column name, replacing . with _, and appending the element index.
• The source timestamp column is dropped because it is redundant with Time / 1000 seconds.
• The source index column is renamed to sample_index.
• Videos are not uploaded here. Use the original dataset videos: https://huggingface.co/datasets/chirag1701/battery/tree/main/videos

Read Example

from tsfile import TsFileReader

path = "data/battery.tsfile"
table = "battery"

with TsFileReader(path) as reader:
    columns = [
        "episode_index",
        "task_index",
        "frame_index",
        "sample_index",
        "action_0",
        "observation_state_0",
    ]
    with reader.query_table(table, columns, batch_size=4096) as result:
        batch = result.read_arrow_batch()
        print(batch)