piper_umi_inter_stacking (TsFile)

Apache TsFile version of axiboai/piper_umi_inter_stacking.

Overview

This dataset is a LeRobot v2.1 bimanual dataset of a Piper X arm performing inter-hand stacking.

• Robot: Piper X bimanual (piperx_bimanual_eef_6d_inter)
• Scale: 90 episodes, 23,894 frames, 30 fps
• Split: train
• Cameras (not uploaded): cam_front, cam_left_wrist, cam_right_wrist

Schema (TsFile structure)

The TsFile table is named piper_umi_inter_stacking.

Role	Columns
Time	Time, INT64 milliseconds
TAG	episode_index, task_index
FIELD	frame_index, sample_index
FIELD	observation_state_0 … observation_state_29, FLOAT
FIELD	action_0 … action_19, 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/piper_umi_inter_stacking.tsfile") as reader:
    print(reader.get_all_table_schemas()["piper_umi_inter_stacking"])

Source & license

• Original dataset: https://huggingface.co/datasets/axiboai/piper_umi_inter_stacking
• Author: axiboai
• License: apache-2.0