earbud_case_insertion_teleop_0515 TsFile

This dataset is a TsFile conversion of the Hugging Face dataset Xense/earbud_case_insertion_teleop_0515, which was created using LeRobot.

Modalities: Time-series. The original dataset also includes camera and tactile video streams; those videos are not included in this repository and remain available in the source dataset.

Source Dataset

• Original dataset: Xense/earbud_case_insertion_teleop_0515
• License: Apache-2.0
• Task category: robotics
• Robot type: bi_flexiv_rizon4_rt
• Task: pick up each earbud case from the left stands, insert the matching earbuds, close the lid, and place the case in the box.
• Split: single train split (0:298)
• Scale: 298 episodes, 488,118 frames, 1 task, 1 data chunk
• Sampling rate: 30 fps
• Original video features:
  • observation.images.head
  • observation.images.left_wrist
  • observation.images.right_wrist
  • observation.images.left_tactile_0
  • observation.images.left_tactile_1
  • observation.images.right_tactile_0
  • observation.images.right_tactile_1

Converted Files

• TsFile: data/earbud_case_insertion_teleop_0515.tsfile
• Rows: 488,118
• Episodes: 298
• Tasks: 1 (task_index = 0)
• Table name: earbud_case_insertion_teleop_0515
• 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_19	FIELD	FLOAT	Flattened from action[20]
observation_state_0 ... observation_state_19	FIELD	FLOAT	Flattened from observation.state[20]

The action and observation-state element names are: left_tcp.x, left_tcp.y, left_tcp.z, left_tcp.r1 ... left_tcp.r6, right_tcp.x, right_tcp.y, right_tcp.z, right_tcp.r1 ... right_tcp.r6, left_gripper.pos, and right_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.
• Camera and tactile videos are not uploaded here. Use the original dataset videos: https://huggingface.co/datasets/Xense/earbud_case_insertion_teleop_0515/tree/main/videos

Read Example

from tsfile import TsFileReader

path = "data/earbud_case_insertion_teleop_0515.tsfile"
table = "earbud_case_insertion_teleop_0515"

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)

Citation

The original dataset card does not provide a BibTeX citation.