THULab/slowturtle99_so100_pick_place_blocks

SO100 Pick and Place Blocks TsFile

This Apache TsFile dataset is derived from slowturtle99/so100_pick_place_blocks, a LeRobot v2.1 SO100 robot-manipulation dataset. It contains numeric robot trajectories, frame timing, and episode/task tags. Camera videos remain in the source repository.

Source Dataset and Attribution

• Source dataset: slowturtle99/so100_pick_place_blocks
• Original author/uploader: slowturtle99
• Authorship evidence: the repository shows slowturtle99 as its owner, uploader, and sole contributor. The source card gives no separate author list.
• License: Apache-2.0
• Task: "Pick blocks and place them in the box."
• Robot: so100; LeRobot version: v2.1
• Split: train; sampling rate: 30 fps
• Scale: 50 episodes, 35,084 frames, 1 task
• Source layout: 50 Parquet shards at data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet

Data Layout

• Path: data/slowturtle99_so100_pick_place_blocks.tsfile (832,093 bytes)
• Table: slowturtle99_so100_pick_place_blocks
• Rows: 35,084; episodes/devices: 50; tasks: 1
• Time precision: milliseconds
• TsFile/source-Parquet size ratio: 0.413
• Source metadata remains under meta/; no source Parquet file is moved into that directory.

Schema

Time = round(timestamp * 1000) milliseconds. Time restarts at zero in every episode. Source timestamp is omitted afterward because it equals Time / 1000 seconds.

TAG columns, stored through the TsFile table/device mechanism:

• episode_index
• task_index

Scalar FIELD columns:

• frame_index
• sample_index (renamed from source index)

Flattened FLOAT FIELD groups:

• action[6] -> action_0 ... action_5
• observation.state[6] -> observation_state_0 ... observation_state_5

The six dimensions are main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper. Dots in source vector names become underscores. No numeric row, episode, task, or vector dimension is dropped.

Encodings and Compression

• FLOAT/DOUBLE: GORILLA + LZ4
• INT32/INT64: TS_2DIFF + LZ4
• Time: TS_2DIFF + LZ4
• BOOLEAN: RLE + LZ4 (the source has no BOOLEAN field)
• TAG: TsFile table/device storage

The physical table schema, Time codec, every FIELD codec, and all 35,084 rows were checked with the Apache TsFile Java API.

Videos

Videos are not included in this TsFile repository. The source has 100 frame-aligned AV1 MP4 files (467,621,518 bytes, about 446.0 MiB), 640x480, 30 fps, no audio, in two streams:

• observation.images.top
• observation.images.wrist

Each stream uses videos/chunk-000/{video_key}/episode_{episode_index:06d}.mp4. episode_index, frame_index, and meta/episodes.jsonl preserve alignment.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/slowturtle99_so100_pick_place_blocks.tsfile")
with reader.query_table(
    "slowturtle99_so100_pick_place_blocks",
    ["episode_index", "task_index", "frame_index", "sample_index",
     "action_0", "observation_state_0"],
    batch_size=65536,
) as result:
    batch = result.read_arrow_batch()
    if batch is not None:
        print(batch.to_pandas().head())
reader.close()

Source Notes

The source card states that the dataset was created with LeRobot. It does not provide a paper or completed BibTeX citation.