| # Converted Robotics Dataset |
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| This dataset stores authoritative timestamps and metadata in Parquet tables and |
| stores frame payloads in video containers. Video presentation timestamps are not |
| used for synchronization; use `tables/frames.parquet` and `video_frame_idx`. |
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| Core loading rule: |
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| ```text |
| decoded video frame k == frames.parquet row where video_frame_idx == k |
| ``` |
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| Useful files: |
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| - `dataset_manifest.parquet`: converted sessions in this dataset root |
| - `sessions/<session_id>/metadata/streams.parquet`: stream IDs and modalities |
| - `sessions/<session_id>/metadata/videos.parquet`: stream-to-video mapping |
| - `sessions/<session_id>/tables/frames.parquet`: authoritative timestamps, |
| frame indices, clock domains, and hashes |
| - `sessions/<session_id>/tables/robot_states.parquet`: robot states, if present |
| - `sessions/<session_id>/metadata/calibration.json`: calibration and transform |
| conventions |
| - `sessions/<session_id>/metadata/validation_report.json`: validation status |
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| Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible |
| decoders. Camera SDKs are conversion-only dependencies. |
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