Datasets:
File size: 3,142 Bytes
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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- tsfile
- timeseries
- format:tsfile
configs:
- config_name: default
data_files:
- split: train
path: data/berkeley_cable_routing.tsfile
size_categories:
- 10K<n<100K
modality:
- tabular
- timeseries
---
# berkeley_cable_routing
This dataset is a TsFile conversion of the Hugging Face dataset
[`lerobot/berkeley_cable_routing`](https://huggingface.co/datasets/lerobot/berkeley_cable_routing).
The source dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
Modalities: Time-series. The original repository also contains video streams; videos are not
included in this converted repository.
## Source Dataset
- Original dataset: [`lerobot/berkeley_cable_routing`](https://huggingface.co/datasets/lerobot/berkeley_cable_routing)
- License: `apache-2.0`
- LeRobot codebase version: `v3.0`
- Robot type: `unknown`
- Task: `route cable`
- Split: `train` (`0:1647`)
- Source scale from `meta/info.json`: `1,647` episodes, `42,328` frames, `1` task
- Sampling rate: `10` fps
- Source data layout: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
- Source video layout: `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`
## Converted Files
- TsFile: `data/berkeley_cable_routing.tsfile`
- Converted rows: `42,328`
- TsFile table: `berkeley_cable_routing`
- Time precision: milliseconds
- TAG columns: `episode_index`, `task_index`
The conversion follows the LeRobot v3 data path in `meta/info.json` and uses the
`file-*.parquet` frame data layout.
## Schema
`Time` is synthesized as `round(timestamp * 1000)` in milliseconds. The source
`timestamp` column is dropped because it is redundant with `Time / 1000` seconds.
TAG columns:
- `episode_index`
- `task_index`
FIELD columns:
- `frame_index`
- `sample_index` (renamed from source `index`)
- `next_reward` (renamed from source `next.reward`)
- `next_done` (renamed from source `next.done`, stored as `0/1`)
- `observation_state_0` to `observation_state_7`
- `action_0` to `action_6`
Vector features are flattened by preserving the source feature name and replacing
`.` with `_`. For example, `observation.state` becomes
`observation_state_0` to `observation_state_7`, and `action` becomes
`action_0` to `action_6`.
## Video Policy
The following source video features are not converted into TsFile and are not
uploaded here:
- `observation.images.top_image`
- `observation.images.wrist225_image`
- `observation.images.wrist45_image`
- `observation.images.image`
Use the original dataset for videos:
[`lerobot/berkeley_cable_routing/videos`](https://huggingface.co/datasets/lerobot/berkeley_cable_routing/tree/main/videos).
## Validation
The converted TsFile was validated with the project pipeline and read back using
the TsFile Python SDK:
- staged Parquet rows: `42,328`
- TsFile metadata rows: `42,328`
- TsFile query rows: `42,328`
## Usage
```python
from tsfile import TsFileReader
path = "data/berkeley_cable_routing.tsfile"
with TsFileReader(path) as reader:
schemas = reader.get_all_table_schemas()
print(schemas.keys())
```
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