THULab/svla_so100_task4_v3_clean

SVLA SO100 Task4 V3 Clean TsFile

This dataset is converted from danaaubakirova/svla_so100_task4_v3_clean to Apache TsFile format.

Modalities: Time-series. The converted repository contains numeric SO100 robot state/action trajectories and LeRobot metadata. Camera videos are not included in this TsFile conversion; they remain in the original Hugging Face dataset under its videos/ tree.

Source Dataset

• Original dataset: danaaubakirova/svla_so100_task4_v3_clean
• License: apache-2.0
• Robot type from source metadata: so100
• Source codebase version from metadata: v2.1
• Task: Put the red cube on top of the blue cube.
• Sampling rate: 30 fps
• Source data layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Source video layout: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
• Source card note: created using LeRobot.

At conversion time, the repository exposed 50 frame Parquet files, totaling 21,897 rows. The source meta/info.json declares 56 episodes and 22,956 frames, while the dataset card embeds an older 40-episode snapshot; this conversion follows the files actually present in the repository.

Converted Data

• TsFile path: data/svla_so100_task4_v3_clean.tsfile
• Table name: svla_so100_task4_v3_clean
• Converted rows: 21,897
• Episodes converted: 50
• Episode indexes converted: 0-19, 21-36, and 40-53
• Tasks: 1
• Source frame Parquet files converted: 50
• Output file size: 412,485 bytes
• Time precision: milliseconds

Schema

• Time: integer timestamp in milliseconds, computed as round(timestamp * 1000).
• TAG columns: episode_index, task_index.
• Integer FIELD columns: frame_index, sample_index.
• FLOAT FIELD columns: action_0 through action_5.
• FLOAT FIELD columns: observation_state_0 through observation_state_5.

The six action and observation-state dimensions follow the SO100 joint names from the source metadata:

• main_shoulder_pan
• main_shoulder_lift
• main_elbow_flex
• main_wrist_flex
• main_wrist_roll
• main_gripper

Conversion Notes

• Vector columns are flattened while preserving source names: action becomes action_0..action_5, and observation.state becomes observation_state_0..observation_state_5.
• The source timestamp column is dropped because it is represented by Time / 1000 seconds after conversion.
• The source index column is renamed to sample_index.
• Video features observation.images.top and observation.images.wrist are omitted from this repository. Use the original dataset videos at danaaubakirova/svla_so100_task4_v3_clean/videos.
• Source meta/ files are mirrored, with meta/info.json updated to describe the converted TsFile path, converted schema, row count, and video policy.

Read Example

from pathlib import Path

tsfile_path = Path("data/svla_so100_task4_v3_clean.tsfile")
print(tsfile_path)

# Read this file with the Apache TsFile Java/Python SDK or TsFile tools.