---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- humanoid
- robotics
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
configs:
- config_name: default
  data_files:
  - split: train
    path: data/first_humanoid_dataset.tsfile
modality:
- tabular
- text
- timeseries
size_categories:
- 1K<n<10K
---

# first_humanoid_dataset

Converted Apache TsFile version of [`skyzos/first-humanoid-dataset`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset), a LeRobot v2.1 humanoid manipulation dataset.

## Source Dataset

- Original dataset: [`skyzos/first-humanoid-dataset`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset)
- License: `apache-2.0`
- Task: `pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle.`
- Source split: `train`
- Source scale from `meta/info.json`: 19 episodes, 2,285 frames, 1 task, 57 videos, 30 fps
- Robot type: not specified in the source `meta/info.json`
- Modalities: Time-series. The source repository also contains videos, but this converted repository stores only numeric robot state/action time-series data and metadata.

## TsFile Layout

- Data file: `data/first_humanoid_dataset.tsfile`
- Table name: `first_humanoid_dataset`
- Rows: 2,285
- Time precision: milliseconds
- TAG columns: `episode_index`, `task_index`
- FIELD columns: `frame_index`, `sample_index`, `observation_state_0` through `observation_state_31`, and `action_0` through `action_13`

The converted table uses the original LeRobot `episode_index` and `task_index` columns as TsFile TAG columns. Query one episode by filtering on `episode_index`.

## Conversion Notes

- Converted with the generic `lerobot` converter in the `huggingface_to_tsfile` pipeline.
- `Time = round(timestamp * 1000)` in milliseconds and restarts per episode.
- The source `timestamp` column is not retained as a separate FIELD because it is redundant with `Time / 1000`.
- The source `index` column is renamed to `sample_index`.
- Vector columns are flattened while preserving the full source column name with `.` replaced by `_`: `observation.state[32]` becomes `observation_state_0..observation_state_31`, and `action[14]` becomes `action_0..action_13`.
- Numeric arrays are stored as single-precision FLOAT fields.
- Source videos are not uploaded here. They remain in the original dataset under [`videos/`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset/tree/main/videos).
- The source repository also contains unrelated `nvim-linux-x86_64/` files; those files are intentionally excluded from this time-series conversion.
- `meta/` is mirrored from the source except that `meta/info.json` describes the converted TsFile artifact and records the original video path separately.

## Read Example

Use Apache TsFile tooling or SDKs to read:

```text
data/first_humanoid_dataset.tsfile
```