---
pretty_name: eval2_compositional_augmented TsFile
tags:
- robotics
- LeRobot
- SO-101
- imitation-learning
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
modality:
- tabular
- timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/eval2_compositional_augmented.tsfile
size_categories:
- 100K<n<1M
---

# eval2_compositional_augmented

This dataset was converted from
[`robot-learning-group47/eval2_compositional_augmented`](https://huggingface.co/datasets/robot-learning-group47/eval2_compositional_augmented)
to Apache TsFile format.

Modalities: Time-series.

## Source Dataset

- Original dataset: [`robot-learning-group47/eval2_compositional_augmented`](https://huggingface.co/datasets/robot-learning-group47/eval2_compositional_augmented)
- Source format: LeRobot v3 parquet frames with metadata and one front-camera video stream
- Robot type: `so_follower`
- Split: `train`
- Episodes: 720
- Frames / TsFile rows: 161,780
- Tasks: 22
- Sampling rate: 15 fps

The source contains compositional prompt augmentations for banana-and-bowl
manipulation tasks. The file `combo_augmented_map.csv` is included with this
conversion and maps prompt-combination groups to source and augmented episode
ranges.

## Files

- `data/eval2_compositional_augmented.tsfile`: converted numeric time-series table
- `meta/`: source metadata mirrored from the original dataset, with `meta/info.json`
  rewritten to describe the converted TsFile layout
- `combo_augmented_map.csv`: source augmentation map

Videos are not included in this repository. The original camera video stream
`observation.images.front` remains in the source dataset under
[`videos/`](https://huggingface.co/datasets/robot-learning-group47/eval2_compositional_augmented/tree/main/videos).

## Schema

The TsFile table name is `eval2_compositional_augmented`.

- `Time`: integer timestamp in milliseconds, synthesized as `round(timestamp * 1000)`
- TAG columns: `episode_index`, `task_index`
- FIELD columns: `frame_index`, `sample_index`, `action_0..action_5`,
  `observation_state_0..observation_state_5`

The six action and observation-state dimensions use the original LeRobot joint
order: `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`,
`wrist_flex.pos`, `wrist_roll.pos`, and `gripper.pos`.

## Conversion Notes

- Converted with the generic `lerobot` converter in the HuggingFace-to-TsFile
  pipeline.
- All 720 episodes are stored in one TsFile. Use `episode_index` and
  `task_index` as device TAG filters when querying.
- Source `action[6]` was flattened to `action_0..action_5` as FLOAT fields.
- Source `observation.state[6]` was flattened to `observation_state_0..5` as
  FLOAT fields.
- Source `index` was renamed to `sample_index`.
- Source `timestamp` is not retained as a separate field because the same
  information is represented by `Time / 1000` seconds.
- Source video field `observation.images.front` is omitted from this TsFile
  conversion and remains available in the original dataset.
- No rows were dropped.

## Minimal Read Example

```python
from tsfile import TsFileReader

reader = TsFileReader("data/eval2_compositional_augmented.tsfile")
schemas = reader.get_all_table_schemas()
print(schemas.keys())
```