| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so100 |
| - tutorial |
| - robot |
| - imitation-learning |
| - tsfile |
| - format:tsfile |
| - timeseries |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/5position.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
|
|
|
|
|
|
|
|
| # 5position |
|
|
| This dataset is a TsFile conversion of |
| [`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position), a |
| LeRobot SO100 robot dataset. The original dataset was created using |
| [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Source Dataset |
|
|
| - Source dataset: [`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position) |
| - License: apache-2.0 |
| - Robot type: SO100 |
| - Episodes: 50 |
| - Frames: 43,346 |
| - Tasks: 1 |
| - Sampling rate: 30 fps |
| - Original data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` |
| - Original video path: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` |
|
|
| ## TsFile Conversion |
|
|
| The numeric frame data was converted to one TsFile: |
|
|
| ```text |
| data/5position.tsfile |
| ``` |
|
|
| All episodes are stored in the same TsFile table, with the original source |
| columns `episode_index` and `task_index` declared as TAG columns. To query one |
| episode, filter by `episode_index`. |
|
|
| `Time` is generated as `round(timestamp * 1000)` in milliseconds and restarts per |
| episode. The source `timestamp` column is dropped because it is represented by |
| `Time / 1000` seconds. The source `frame_index` column is kept. |
|
|
| The source `index` column is renamed to `sample_index`. |
|
|
| Vector columns are flattened while preserving the source column name: |
|
|
| - `action` -> `action_0` ... `action_5` |
| - `observation.state` -> `observation_state_0` ... `observation_state_5` |
|
|
| Flattened vector values are stored as single-precision FLOAT fields. |
|
|
| ## Schema |
|
|
| Roles in the converted TsFile: |
|
|
| - TIME: `Time` |
| - TAG: `episode_index`, `task_index` |
| - FIELD: `frame_index`, `sample_index`, `action_0` ... `action_5`, |
| `observation_state_0` ... `observation_state_5` |
|
|
| The converted dataset contains 43,346 rows and 17 columns. |
|
|
| ## Video Policy |
|
|
| The original dataset contains three video streams: |
|
|
| - `observation.images.context` |
| - `observation.images.arm` |
| - `observation.images.base` |
|
|
| Videos are not included in this converted repository. They remain available in |
| the original Hugging Face dataset: |
|
|
| https://huggingface.co/datasets/DAbraham/5Position/tree/main/videos |
|
|
| ## Metadata |
|
|
| The original `meta/` files are mirrored in this repository. `meta/info.json` is |
| updated so `data_path` points to `data/5position.tsfile`, and it includes a |
| `tsfile_conversion` object documenting the source dataset, converted data path, |
| time mapping, TAG columns, flattened fields, dropped fields, omitted video |
| features, and video alignment policy. |
|
|
| ## Citation |
|
|
| The original dataset card does not provide a BibTeX citation. |
|
|
