---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- libero
- libero-plus
- panda
- multicam
- camera
- tsfile
- timeseries
- format:tsfile
pretty_name: libero_plus_spatial_camera_all_failures
modality: timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/libero_plus_spatial_camera_all_failures.tsfile
---

# libero_plus_spatial_camera_all_failures (TsFile)

Apache TsFile version of [`LSY-lab/libero_plus_spatial_camera_all_failures`](https://huggingface.co/datasets/LSY-lab/libero_plus_spatial_camera_all_failures).

## Overview

A [LeRobot](https://github.com/huggingface/lerobot) robot-manipulation dataset — LIBERO-plus spatial-camera manipulation rollouts on a Franka Panda (multi-camera, all-failure episodes). The source card is auto-generated ("This dataset was created using LeRobot") and does not add a free-text description; the facts below are taken from the source `meta/info.json`.

- **Robot:** Franka Panda
- **Episodes:** 106
- **Frames:** 14068
- **Sampling rate:** 20 fps
- **Tasks:** 1
- **Splits:** a single `train` split (`0:106`)

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — `round(timestamp * 1000)`; the source `timestamp` column (seconds) is dropped because it equals `Time / 1000`.
- **episode_index** (TAG), **task_index** (TAG) — device dimensions; query one episode with `WHERE episode_index = <n>`.
- **frame_index** (FIELD, INT64), **sample_index** (FIELD, INT64, from the source `index`) — per-frame bookkeeping.
- Vector columns (single-precision FLOAT, source name with `.` → `_` and an element index appended):
  - observation.state → `observation_state_0`..`observation_state_7` (FLOAT)
  - observation.states.ee_state → `observation_states_ee_state_0`..`observation_states_ee_state_5` (FLOAT)
  - observation.states.joint_state → `observation_states_joint_state_0`..`observation_states_joint_state_6` (FLOAT)
  - observation.states.gripper_state → `observation_states_gripper_state_0`..`observation_states_gripper_state_1` (FLOAT)
  - action → `action_0`..`action_6` (FLOAT)

Camera video streams are **not** included in this repository; see the original dataset for the videos: https://huggingface.co/datasets/LSY-lab/libero_plus_spatial_camera_all_failures (`videos/` directory).

## Usage

Read the `.tsfile` files with the Apache TsFile Java or Python SDK.

## Source & license

- Original dataset: https://huggingface.co/datasets/LSY-lab/libero_plus_spatial_camera_all_failures
- Author / publisher: LSY-lab
- License: apache-2.0