THULab/yellow_block_grasp_vary

Yellow Block Grasp Vary (TsFile)

Converted from yangfengzzz/yellow_block_grasp_vary at pinned revision 806ac92c4163d3b15dc5a3b3a58088d053a79cf8. Modalities: Time-series.

Dataset description

This LeRobot v2.1 SO-101 dataset records demonstrations of grasping a yellow block and putting it in a box.

The pinned task instruction is: “Grasp a yellow block and put it in the box”.

• Source repository owner/publisher: yangfengzzz
• License: apache-2.0 (declared by the source card).
• Paper/homepage/citation: no completed paper, homepage, or citation is documented in the pinned source card unless linked above.

Dataset Scale

Split	Episodes	Tasks	Source trajectory Parquets	TsFile rows	Sampling rate	TsFile files/shards
train	100	1	100	28,373	30 Hz	1

The staged Parquet has 28,373 rows and 17 columns including Time; TsFile chunk metadata independently reports the same 28,373 rows.

TsFile schema

Column	Role	TsFile type	Observed/source range
Time	TIME	INT64	0–16,500 ms; restarts per episode
episode_index	TAG	STRING	source integer 0–99
task_index	TAG	STRING	source integer 0–0
frame_index	FIELD	INT64	0–495 within an episode
sample_index	FIELD	INT64	0–28,372 globally

Exact remaining FIELD names/ranges and imported types:

• action_0–action_5 (FLOAT): shoulder pan/lift, elbow flex, wrist flex/roll, and gripper action
• observation_state_0–observation_state_5 (FLOAT): the corresponding SO-101 state

Conversion

• All source episodes in the train split are merged into data/yellow_block_grasp_vary_train.tsfile; episode_index and task_index are TAG dimensions.
• Time = round(timestamp * 1000) in milliseconds. The source timestamp column is omitted because it is redundant with Time / 1000 seconds.
• frame_index is retained. Source index is retained as sample_index.
• Every vector is fully flattened: the complete source name is kept, . becomes _, and element indices are appended. Float vectors are imported as single-precision FLOAT fields.
• Other scalar source columns shown above are retained; no trajectory rows are intentionally dropped.
• Source metadata is mirrored for publication, with copied meta/info.json rewritten to describe the converted data path and conversion semantics.

Video policy

The pinned metadata declares 200 source videos across top and wrist camera streams. MP4 files were not downloaded or uploaded; they remain in the pinned source videos/ tree.

Minimal read example

from tsfile import TsFileReader

reader = TsFileReader("data/yellow_block_grasp_vary_train.tsfile")
print(reader.get_all_table_schemas().keys())
reader.close()

Source and provenance

• Source dataset: yangfengzzz/yellow_block_grasp_vary
• Pinned source revision: 806ac92c4163d3b15dc5a3b3a58088d053a79cf8
• Converted artifact: data/yellow_block_grasp_vary_train.tsfile