Datasets:

THULab
/

jaco_play

@@ -1,66 +1,67 @@
----
-license: cc-by-4.0
-task_categories:
-- robotics
-tags:
-- LeRobot
-- tsfile
-- time-series
-modality:
-- timeseries
-configs:
-- config_name: default
-  data_files:
-  - split: train
-    path: data/jaco_play.tsfile
----
-# jaco_play (TsFile)
-Apache TsFile version of [`lerobot/jaco_play`](https://huggingface.co/datasets/lerobot/jaco_play), the CLVR lab's JACO robot play dataset.
-## Overview
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). It records diverse free-form play behaviour of a JACO arm across many tasks, with per-frame joint state, action, reward and termination signals, plus two camera streams (`image`, `image_wrist`). Language instructions are stored in the mirrored `meta/tasks.parquet`.
-- **Robot:** JACO (CLVR JACO play dataset)
-- **Scale:** 1,085 episodes, 77,965 frames, 89 tasks, 10 fps
-- **Split:** train
-- **Homepage:** https://github.com/clvrai/clvr_jaco_play_dataset
-## Schema (TsFile structure)
-The TsFile table is named `jaco_play`.
-| Role | Columns |
-| --- | --- |
-| Time | `Time`, INT64 milliseconds |
-| TAG | `episode_index`, `task_index` |
-| FIELD | `frame_index`, `sample_index`, `next_reward`, `next_done` |
-| FIELD | `observation_state_0` … `observation_state_7`, FLOAT |
-| FIELD | `action_0` … `action_6`, FLOAT |
-The original 8-element `observation.state` and 7-element `action` vectors are flattened into scalar FLOAT measurements. The boolean `next.done` flag is stored as INT64 (0/1). 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`.
-- The camera streams (`observation.images.image`, `observation.images.image_wrist`) are video and are NOT included in this repository; they remain in the [source videos tree](https://huggingface.co/datasets/lerobot/jaco_play/tree/main/videos).
-- `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
-```python
-from tsfile import TsFileReader
-with TsFileReader("data/jaco_play.tsfile") as reader:
-    print(reader.get_all_table_schemas()["jaco_play"])
-```
-## Source & license
-- Original dataset: https://huggingface.co/datasets/lerobot/jaco_play
-- Author: lerobot
-- Homepage: https://github.com/clvrai/clvr_jaco_play_dataset
-- License: cc-by-4.0

+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- tsfile
+- format:tsfile
+- time-series
+modality:
+- timeseries
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/jaco_play.tsfile
+---
+# jaco_play (TsFile)
+Apache TsFile version of [`lerobot/jaco_play`](https://huggingface.co/datasets/lerobot/jaco_play), the CLVR lab's JACO robot play dataset.
+## Overview
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). It records diverse free-form play behaviour of a JACO arm across many tasks, with per-frame joint state, action, reward and termination signals, plus two camera streams (`image`, `image_wrist`). Language instructions are stored in the mirrored `meta/tasks.parquet`.
+- **Robot:** JACO (CLVR JACO play dataset)
+- **Scale:** 1,085 episodes, 77,965 frames, 89 tasks, 10 fps
+- **Split:** train
+- **Homepage:** https://github.com/clvrai/clvr_jaco_play_dataset
+## Schema (TsFile structure)
+The TsFile table is named `jaco_play`.
+| Role | Columns |
+| --- | --- |
+| Time | `Time`, INT64 milliseconds |
+| TAG | `episode_index`, `task_index` |
+| FIELD | `frame_index`, `sample_index`, `next_reward`, `next_done` |
+| FIELD | `observation_state_0` … `observation_state_7`, FLOAT |
+| FIELD | `action_0` … `action_6`, FLOAT |
+The original 8-element `observation.state` and 7-element `action` vectors are flattened into scalar FLOAT measurements. The boolean `next.done` flag is stored as INT64 (0/1). 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`.
+- The camera streams (`observation.images.image`, `observation.images.image_wrist`) are video and are NOT included in this repository; they remain in the [source videos tree](https://huggingface.co/datasets/lerobot/jaco_play/tree/main/videos).
+- `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
+```python
+from tsfile import TsFileReader
+with TsFileReader("data/jaco_play.tsfile") as reader:
+    print(reader.get_all_table_schemas()["jaco_play"])
+```
+## Source & license
+- Original dataset: https://huggingface.co/datasets/lerobot/jaco_play
+- Author: lerobot
+- Homepage: https://github.com/clvrai/clvr_jaco_play_dataset
+- License: cc-by-4.0