berkeley_cable_routing_lerobot (TsFile)

Apache TsFile version of the LeRobot dataset ygtxr1997/berkeley_cable_routing_lerobot.

Overview

Berkeley cable-routing manipulation on a Franka arm.

• Robot: Franka
• Episodes: 1482
• Frames: 38,240
• Sampling rate: 10 fps
• Tasks: 1

Schema (TsFile structure)

• Time (INT64, milliseconds) — round(timestamp * 1000), restarting per episode.
• episode_index / task_index (TAG) — the device dimension. Query a single episode with WHERE episode_index=N.
• FIELD — frame_index, sample_index, and the flattened state/action vectors (observation_state_0..7, action_0..6) as single-precision FLOAT.

The robot's four camera views are time-series-irrelevant and not uploaded to this repository; get them from the original dataset (its videos/ directory). The source meta/ is mirrored here.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

• Original dataset: ygtxr1997/berkeley_cable_routing_lerobot
• Author / publisher: UC Berkeley / LeRobot
• License: apache-2.0