libero_plus_spatial_camera_all_ur5e_failures (TsFile)

Apache TsFile version of LSY-lab/libero_plus_spatial_camera_all_ur5e_failures.

Overview

This dataset is a LeRobot v3.0 LIBERO-Plus dataset recorded with a UR5e arm under a spatial-camera setup, including all failed episodes.

• Robot: UR5e (ur5e)
• Scale: 202 episodes, 39,208 frames, 20 fps
• Split: train
• Cameras (not uploaded): image, wrist_image, frontview_image, sideview_image

Schema (TsFile structure)

The TsFile table is named libero_plus_spatial_camera_all_ur5e_failures.

Role	Columns
Time	Time, INT64 milliseconds
TAG	episode_index, task_index
FIELD	frame_index, sample_index
FIELD	observation_state_0 … observation_state_7, FLOAT
FIELD	observation_states_ee_state_0 … observation_states_ee_state_5, FLOAT
FIELD	observation_states_joint_state_0 … observation_states_joint_state_5, FLOAT
FIELD	observation_states_gripper_state_0 … observation_states_gripper_state_1, FLOAT
FIELD	action_0 … action_6, FLOAT

Vector columns are flattened into scalar FLOAT measurements (single precision). The source index column is retained as sample_index.

Conversion notes

• Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
• The original timestamp field is omitted because it is exactly represented by Time / 1000.
• Camera video streams are NOT included in this repository; they remain in the source videos tree.
• meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example

from tsfile import TsFileReader

with TsFileReader("data/libero_plus_spatial_camera_all_ur5e_failures.tsfile") as reader:
    print(reader.get_all_table_schemas()["libero_plus_spatial_camera_all_ur5e_failures"])

Source & license

• Original dataset: https://huggingface.co/datasets/LSY-lab/libero_plus_spatial_camera_all_ur5e_failures
• Author: LSY-lab
• License: apache-2.0