| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: pusht_v2_keypoints (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/pusht_v2_keypoints.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # pusht_v2_keypoints (TsFile) |
|
|
| Apache TsFile version of [`cadene/pusht_v2_keypoints`](https://huggingface.co/datasets/cadene/pusht_v2_keypoints). |
|
|
| ## Overview |
|
|
| The keypoints variant of the **PushT** benchmark, formatted with |
| [LeRobot](https://github.com/huggingface/lerobot). A 2D pointer agent pushes a |
| T-shaped block onto a T-shaped target region. Each frame records the agent state, |
| the action, the environment keypoint state, and the step reward / success flag. |
|
|
| - **Robot:** `2d pointer` (2D agent). |
| - **Task:** "Push the T-shaped blue block onto the T-shaped green target surface." (1 task). |
| - **Scale:** 206 episodes, 25,650 frames, single `train` split. |
| - **Sampling rate:** 10 fps. |
| - **Videos:** none — this dataset stores keypoints, not images. |
|
|
| ## 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 (single task here). |
| - **frame_index** (FIELD, INT64) — original per-episode frame counter. |
| - **sample_index** (FIELD, INT64) — source `index` column, renamed. |
| - **next_reward** (FIELD, FLOAT) — step reward (source `next.reward`). |
| - **next_success** (FIELD, BOOLEAN) — step success flag (source `next.success`). |
| - **observation_state_0..1** (FIELD, FLOAT) — 2D agent position. |
| - **action_0..1** (FIELD, FLOAT) — 2D action. |
| - **observation_environment_state_0..15** (FIELD, FLOAT) — the 8 (x, y) keypoints |
| describing the T block / agent geometry. |
| |
| 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. |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/cadene/pusht_v2_keypoints |
| - Author / publisher: cadene (LeRobot / Hugging Face) |
| - Benchmark: PushT — https://diffusion-policy.cs.columbia.edu/ |
| - Created with: [LeRobot](https://github.com/huggingface/lerobot) |
| - License: apache-2.0 |
|
|
