| --- |
| license: apache-2.0 |
| language: |
| - en |
| pretty_name: Vacuame/train4 (LeRobot SO-100) - TsFile |
| tags: |
| - robotics |
| - lerobot |
| - so100 |
| - manipulation |
| - tutorial |
| - tsfile |
| - format:tsfile |
| - timeseries |
| task_categories: |
| - robotics |
| size_categories: |
| - n<1K |
| --- |
| |
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| # Vacuame/train4 (LeRobot SO-100) - TsFile |
|
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| This dataset converts the numeric time-series from [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4) to Apache TsFile while preserving the LeRobot episode-level layout. |
|
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| ## Repository Layout |
|
|
| ```text |
| README.md |
| data/chunk-000/episode_000000.tsfile |
| data/chunk-000/episode_000001.tsfile |
| meta/info.json |
| meta/tasks.jsonl |
| meta/episodes.jsonl |
| meta/stats.json |
| videos/chunk-000/observation.images.laptop/episode_000000.mp4 |
| videos/chunk-000/observation.images.laptop/episode_000001.mp4 |
| videos/chunk-000/observation.images.phone/episode_000000.mp4 |
| videos/chunk-000/observation.images.phone/episode_000001.mp4 |
| ``` |
|
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| ## Source Dataset |
|
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| - Source: [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4) |
| - LeRobot version: v2.0 |
| - Robot type: `so100` |
| - Episodes: 2 |
| - Frames: 119 |
| - FPS: 30 |
| - Task: `try` |
| - Video streams: `observation.images.laptop`, `observation.images.phone` |
|
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| The original source data is one Parquet file per episode: |
|
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| ```text |
| data/chunk-000/episode_000000.parquet |
| data/chunk-000/episode_000001.parquet |
| ``` |
|
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| The converted data keeps the same episode granularity: |
|
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| ```text |
| data/chunk-000/episode_000000.tsfile |
| data/chunk-000/episode_000001.tsfile |
| ``` |
|
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| ## TsFile Mapping |
|
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| - Table name: `vacuame_train4` |
| - TAG columns: `episode_id`, `task_id` |
| - Time precision: milliseconds |
| - Time definition: `round(frame_index * 1000 / 30)` |
| - `timestamp` is preserved as `episode_timestamp_s` |
| - `index` is renamed to `sample_index` |
| - `observation.state[6]` is flattened to `state_0` ... `state_5` |
| - `action[6]` is flattened to `action_0` ... `action_5` |
| - Row count preserved: 119 source rows -> 119 TsFile rows across 2 files |
|
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| ## Video Alignment |
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| Videos are not stored inside TsFile. They are mirrored under `videos/` and aligned by episode and frame: |
|
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| ```text |
| data/chunk-000/episode_000000.tsfile |
| videos/chunk-000/observation.images.laptop/episode_000000.mp4 |
| videos/chunk-000/observation.images.phone/episode_000000.mp4 |
| ``` |
|
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| Within an episode, `frame_index` aligns with the video frame index, and `episode_timestamp_s` aligns with video time in seconds. |
|
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| ## Metadata |
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| `meta/info.json` has been updated so: |
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| ```json |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile" |
| ``` |
|
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| It also includes a `tsfile_conversion` object documenting the source path, converted path, TAG columns, time mapping, row count, and vector flattening. |
|
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| ## Citation |
|
|
| ```bibtex |
| @misc{vacuame_train4, |
| title = {train4 (LeRobot SO-100)}, |
| author = {Vacuame}, |
| url = {https://huggingface.co/datasets/Vacuame/train4}, |
| publisher = {Hugging Face} |
| } |
| ``` |
|
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| The source HuggingFace dataset does not declare an explicit license. |
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|
