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Datasets:
THULab
/
cable_insertion_3

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
LeRobot
real
hdf5
hessian
tsfile
format:tsfile
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - real
  - hdf5
  - hessian
  - tsfile
  - format:tsfile
  - time-series
  - timeseries
modality:
  - tabular
  - text
  - timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/cable_insertion_3.tsfile
size_categories:
  - 10K<n<100K

cable_insertion_3 (TsFile)

Apache TsFile version of DistantSky/cable_insertion_3.

Overview

This dataset is a LeRobot v2.1 dataset of a Hessian arm performing cable insertion at 60 fps, with per-episode prompt text.

  • Robot: Hessian (hessian)
  • Scale: 66 episodes, 19,896 frames, 60 fps
  • Split: train
  • Cameras (not uploaded): video_left, video_overhead, video_right

Schema (TsFile structure)

The TsFile table is named cable_insertion_3.

Role Columns
Time Time, INT64 milliseconds
TAG episode_index, task_index
FIELD frame_index, sample_index
FIELD observation_state_0 … observation_state_13, FLOAT
FIELD observation_velocity_0 … observation_velocity_13, FLOAT
FIELD action_0 … action_13, FLOAT
FIELD source_action_time_s
FIELD prompt

Vector columns are flattened into scalar FLOAT measurements (single precision). The source index column is retained as sample_index.

Conversion notes

  • Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
  • The original timestamp field is omitted because it is exactly represented by Time / 1000.
  • Camera video streams are NOT included in this repository; they remain in the source videos tree.
  • meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example 

from tsfile import TsFileReader

with TsFileReader("data/cable_insertion_3.tsfile") as reader:
    print(reader.get_all_table_schemas()["cable_insertion_3"])

Source & license