sweep2e_dualarm_v4

This dataset is a TsFile conversion of Anlorla/sweep2E_dualarm_v4, a LeRobot-style Zeno dual-arm robot dataset.

Source Dataset

• Original dataset: Anlorla/sweep2E_dualarm_v4
• Original license: not specified in the downloaded dataset metadata
• Robot type: zeno
• Modalities: Time-series
• Source sampling rate: 10 fps
• Source scale: 201 episodes, 5,638 frames, 201 task records
• Source split: train episodes 0:201
• Source video streams: observation.images.main, observation.images.secondary_0, and observation.images.secondary_1

The source task metadata contains coordinate-conditioned prompts such as:

• task_index=0: <Clear> <Box> <112, 741, 353, 951>
• task_index=1: <Clear> <Box> <116, 839, 317, 969>
• task_index=2: <Clear> <Box> <143, 415, 308, 625>

TsFile Conversion

The converted dataset stores the numeric robot time-series data in one TsFile:

• data/sweep2e_dualarm_v4.tsfile

Conversion summary:

• Rows: 5,638
• Episodes: 201
• Time precision: milliseconds
• Table name: sweep2e_dualarm_v4
• TAG columns: episode_index, task_index
• Time mapping: Time = round(timestamp * 1000)
• Dropped source column: timestamp, because it is represented by Time / 1000
• Renamed source column: index to sample_index
• Omitted source video features: observation.images.main, observation.images.secondary_0, observation.images.secondary_1

The meta/ directory is mirrored from the source dataset, with meta/info.json updated to describe the converted TsFile artifact and the video policy. Videos are not included in this converted repository; use the original dataset if frame-aligned videos are needed:

https://huggingface.co/datasets/Anlorla/sweep2E_dualarm_v4/tree/main/videos

Schema

Time is the TsFile time column in milliseconds. episode_index and task_index are TAG columns. Remaining columns are FIELD measurements:

• frame_index
• sample_index
• action_0 through action_13
• observation_state_0 through observation_state_15

The 14 action dimensions follow the source order:

• left_joint_0 through left_joint_6
• right_joint_0 through right_joint_6

The 16 observation-state dimensions follow the source order:

• left_joint_0 through left_joint_7
• right_joint_0 through right_joint_7

Vector columns preserve the full source column name when flattened: . is replaced with _ and the element index is appended. For example, observation.state becomes observation_state_0..observation_state_15, and action becomes action_0..action_13.

Usage

Read the TsFile with Apache TsFile tools or SDKs. Example path:

data/sweep2e_dualarm_v4.tsfile

To inspect a single episode in SQL-style tools, filter by the TAG:

SELECT *
FROM sweep2e_dualarm_v4
WHERE episode_index = 0;