| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: eval3_90_permutation (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/eval3_90_permutation.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # eval3_90_permutation (TsFile) |
|
|
| Apache TsFile version of [`robot-learning-group47/eval3_90_permutation`](https://huggingface.co/datasets/robot-learning-group47/eval3_90_permutation). |
|
|
| ## Overview |
|
|
| A [LeRobot](https://github.com/huggingface/lerobot) (v3.0) robot-manipulation |
| evaluation dataset collected on a `so_follower` arm. Each episode records a |
| pick-and-place rollout — placing a coke can onto one of three printed portraits — |
| sampled frame by frame as commanded action and measured arm state. |
|
|
| - **Robot:** `so_follower` (6-DoF arm). |
| - **Tasks (3):** |
| - "Place the coke on Taylor Swift." |
| - "Place the coke on Barack Obama." |
| - "Place the coke on Yann LeCun." |
| - **Scale:** 90 episodes, 20,221 frames, single `train` split. |
| - **Sampling rate:** 15 fps. |
| - **Videos:** one front camera stream (`observation.images.front`) in the original |
| dataset; not included here (see below). |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarts per episode. |
| - **episode_index** (TAG) — episode device dimension; query one episode with |
| `WHERE episode_index=0`. |
| - **task_index** (TAG) — task device dimension (3 tasks: 0/1/2 as listed above). |
| - **frame_index** (FIELD, INT64) — original per-episode frame counter. |
| - **sample_index** (FIELD, INT64) — source `index` column, renamed. |
| - **action_0..action_5** (FIELD, FLOAT) — commanded 6-DoF action. |
| - **observation_state_0..observation_state_5** (FIELD, FLOAT) — measured 6-DoF |
| arm state. |
| |
| Vector columns are flattened by preserving the source name (`.` → `_`) and |
| appending the element index. The source `timestamp` column is dropped because it |
| equals `Time ÷ 1000` seconds. |
|
|
| ## Attachments |
|
|
| - `eval3_episode_permutation_map.csv` / `eval3_episode_permutation_map.json` — |
| the evaluation episode permutation map, mirrored as-is from the source dataset. |
|
|
| ## Videos |
|
|
| The front camera video stream is not included in this TsFile repository. It |
| remains in the original dataset under |
| [`videos/`](https://huggingface.co/datasets/robot-learning-group47/eval3_90_permutation/tree/main/videos). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/robot-learning-group47/eval3_90_permutation |
| - Author / publisher: robot-learning-group47 |
| - Created with: [LeRobot](https://github.com/huggingface/lerobot) (codebase v3.0) |
| - License: apache-2.0 |
|
|
