| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tsfile |
| - timeseries |
| - robotics |
| - so101 |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| pretty_name: Record Test TsFile |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/record_test.tsfile |
| --- |
| |
| # Record Test TsFile |
|
|
| This dataset is a TsFile conversion of the Hugging Face dataset |
| [`sattgle/record-test`](https://huggingface.co/datasets/sattgle/record-test), |
| which was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| Modalities: Time-series. The original repository also contains front and rear |
| camera video streams. Videos are not included in this repository and remain |
| available at the source. |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`sattgle/record-test`](https://huggingface.co/datasets/sattgle/record-test) |
| - License: Apache-2.0 |
| - Task category: robotics |
| - Robot type: `so101_follower` |
| - Task: `clean` |
| - LeRobot codebase version: `v2.1` |
| - Sampling rate: 30 fps |
| - Original video features: `observation.images.front` and |
| `observation.images.rear` (640 x 360 RGB, AV1, 30 fps) |
|
|
| The source dataset card does not provide a paper, homepage, or detailed task |
| protocol beyond the LeRobot provenance and task metadata above. |
|
|
| ## Source Consistency Note |
|
|
| The source repository contains inconsistent trailing files. Its |
| `meta/info.json` declares 43 episodes and 45,113 frames, while the repository |
| tree contains 50 frame Parquet files. Direct inspection found that files 41 and |
| 42 were overwritten with embedded episode indexes 0 and 1, and files 43-49 are |
| outside `meta/episodes.jsonl` and also duplicate earlier episode indexes. |
|
|
| This conversion therefore uses the contiguous, internally consistent files |
| `episode_000000.parquet` through `episode_000040.parquet`: 41 episodes and |
| 44,533 frames. The adjusted upload metadata and `meta/info.json` document the |
| excluded files. The corresponding aligned source subset has 82 videos; all |
| source videos remain upstream. |
|
|
| ## Converted Files |
|
|
| - TsFile: `data/record_test.tsfile` |
| - Rows: 44,533 |
| - Episodes: 41 (`0:41`) |
| - Tasks: 1 (`task_index = 0`) |
| - Table name: `record_test` |
| - Time precision: milliseconds |
| - Metadata: `meta/` is based on the source metadata and filtered to the |
| validated episode range; `meta/info.json` records the TsFile mapping and |
| source-repository anomalies. |
|
|
| ## Schema |
|
|
| | Column | Role | Type | Notes | |
| |---|---|---|---| |
| | `Time` | TIME | INT64 | `round(timestamp * 1000)`, in milliseconds; restarts per episode | |
| | `episode_index` | TAG | INT64 | Source episode identifier | |
| | `task_index` | TAG | INT64 | Source task identifier | |
| | `frame_index` | FIELD | INT64 | Source frame index, preserved | |
| | `sample_index` | FIELD | INT64 | Renamed from source `index` | |
| | `action_0` ... `action_5` | FIELD | FLOAT | Flattened from `action[6]` | |
| | `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened from `observation.state[6]` | |
|
|
| The action and observation-state element order is: |
| `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`, `wrist_flex.pos`, |
| `wrist_roll.pos`, and `gripper.pos`. |
|
|
| `episode_index` and `task_index` are TAG columns, so an individual episode can |
| be selected by filtering on `episode_index`. |
|
|
| ## Conversion Notes |
|
|
| - The 41 validated LeRobot frame Parquet files were merged into one TsFile. |
| - Vector columns were flattened by preserving the source column name, replacing |
| `.` with `_`, and appending the element index. |
| - The source `timestamp` column is dropped because it is redundant with |
| `Time / 1000` seconds. |
| - The source `index` column is renamed to `sample_index`. |
| - Front and rear videos are omitted from the converted schema and are not |
| uploaded here. Use the original dataset videos: |
| https://huggingface.co/datasets/sattgle/record-test/tree/main/videos |
|
|
| ## Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/record_test.tsfile" |
| table = "record_test" |
| |
| with TsFileReader(path) as reader: |
| columns = [ |
| "episode_index", |
| "task_index", |
| "frame_index", |
| "sample_index", |
| "action_0", |
| "observation_state_0", |
| ] |
| with reader.query_table(table, columns, batch_size=4096) as result: |
| batch = result.read_arrow_batch() |
| print(batch) |
| ``` |
|
|
| ## Citation |
|
|
| The original dataset card does not provide a BibTeX citation. |
|
|
