| --- |
| pretty_name: Dexterious EE (TsFile) |
| tags: |
| - tsfile |
| - timeseries |
| - robotics |
| - lerobot |
| - r1_humanoid |
| - dexterous |
| - modality:video |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/dexterious_ee.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # Dexterious EE (TsFile) |
|
|
| This dataset is an Apache TsFile conversion of |
| [`Beable/dexterious_ee`](https://huggingface.co/datasets/Beable/dexterious_ee). |
| It stores the numeric LeRobot frame data as one TsFile table while preserving |
| the source metadata. The source camera videos are not mirrored in this converted |
| repository; they remain in the original dataset under |
| [`videos/`](https://huggingface.co/datasets/Beable/dexterious_ee/tree/main/videos). |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`Beable/dexterious_ee`](https://huggingface.co/datasets/Beable/dexterious_ee) |
| - Source commit: `88f573a60a320c6b49e7435fb3fc2fc6b9256086` |
| - Author/owner: `Beable` |
| - License: not declared in the source dataset card at conversion time |
| - LeRobot codebase version: `v3.0` |
| - Robot type: `r1_humanoid` |
| - Task: `robot_arm_control` |
| - Source split: `train: 0:40` |
| - Scale: 40 episodes, 27,237 frames, 1 task |
| - Sampling rate: 10 fps |
| - Source video stream: `observation.images.rgb`, 360x640x3, H.264, 10 fps |
|
|
| ## TsFile Data |
|
|
| - TsFile path: `data/dexterious_ee.tsfile` |
| - Table name: `dexterious_ee` |
| - Rows: 27,237 |
| - Metadata: `meta/` is mirrored from the source, with `meta/info.json` updated |
| to describe the converted TsFile schema and video policy. |
|
|
| ## Schema |
|
|
| | Column | TsFile role | Type | Notes | |
| |---|---:|---|---| |
| | `Time` | TIME | INT64 | Milliseconds from `round(timestamp * 1000)` | |
| | `episode_index` | TAG | INT64 | Source episode identifier | |
| | `task_index` | TAG | INT64 | Source task identifier | |
| | `frame_index` | FIELD | INT64 | Source frame index, retained | |
| | `sample_index` | FIELD | INT64 | Source `index`, renamed to avoid ambiguity | |
| | `observation_state_0` ... `observation_state_16` | FIELD | FLOAT | Flattened source `observation.state` vector | |
| | `action_0` ... `action_16` | FIELD | FLOAT | Flattened source `action` vector | |
|
|
| The 17-element vector order for both `observation.state` and `action` is: |
| `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `thumb_joint_roll_r`, |
| `index_proximal_joint_r`, `middle_proximal_joint_r`, |
| `ring_proximal_joint_r`, `little_proximal_joint_r`, |
| `thumb_proximal_joint_r`, `index_proximal_joint_r_1`, |
| `middle_proximal_joint_r_1`, `ring_proximal_joint_r_1`, |
| `little_proximal_joint_r_1`, `thumb_proximal_joint_r_1`. |
|
|
| ## Conversion Notes |
|
|
| - `Time` is synthesized from source `timestamp` in integer milliseconds. |
| - Source `timestamp` is dropped as a separate field because it is redundant with |
| `Time / 1000` seconds. |
| - Source `index` is renamed to `sample_index`. |
| - Vector columns are flattened by preserving the full source name, replacing `.` |
| with `_`, and appending the element index. |
| - Source video feature `observation.images.rgb` and files under `videos/` are |
| omitted from this converted repository. Use the original dataset for video |
| playback and frame alignment. |
| - No numeric rows were intentionally dropped during conversion. |
|
|
| ## Validation |
|
|
| - `pipeline.py validate` passed for `data/dexterious_ee.tsfile`. |
| - TsFile metadata row count: 27,237. |
| - TsFile query readback rows: 27,237. |
| - Staged Parquet rows: 27,237. |
|
|
| ## Minimal Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/dexterious_ee.tsfile" |
| table = "dexterious_ee" |
| fields = ["frame_index", "sample_index", "action_0", "observation_state_0"] |
| |
| with TsFileReader(path) as reader: |
| with reader.query_table(table, fields) as result: |
| for row in result: |
| print(row) |
| break |
| ``` |
|
|
