README.md

---
license: apache-2.0
language:
- en
pretty_name: Vacuame/train4 (LeRobot SO-100) - TsFile
tags:
- robotics
- lerobot
- so100
- manipulation
- tutorial
- tsfile
- format:tsfile
- timeseries
task_categories:
- robotics
size_categories:
- n<1K
---





# Vacuame/train4 (LeRobot SO-100) - TsFile

This dataset converts the numeric time-series from [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4) to Apache TsFile while preserving the LeRobot episode-level layout.

## Repository Layout

```text
README.md
data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile
meta/info.json
meta/tasks.jsonl
meta/episodes.jsonl
meta/stats.json
videos/chunk-000/observation.images.laptop/episode_000000.mp4
videos/chunk-000/observation.images.laptop/episode_000001.mp4
videos/chunk-000/observation.images.phone/episode_000000.mp4
videos/chunk-000/observation.images.phone/episode_000001.mp4
```

## Source Dataset

- Source: [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4)
- LeRobot version: v2.0
- Robot type: `so100`
- Episodes: 2
- Frames: 119
- FPS: 30
- Task: `try`
- Video streams: `observation.images.laptop`, `observation.images.phone`

The original source data is one Parquet file per episode:

```text
data/chunk-000/episode_000000.parquet
data/chunk-000/episode_000001.parquet
```

The converted data keeps the same episode granularity:

```text
data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile
```

## TsFile Mapping

- Table name: `vacuame_train4`
- TAG columns: `episode_id`, `task_id`
- Time precision: milliseconds
- Time definition: `round(frame_index * 1000 / 30)`
- `timestamp` is preserved as `episode_timestamp_s`
- `index` is renamed to `sample_index`
- `observation.state[6]` is flattened to `state_0` ... `state_5`
- `action[6]` is flattened to `action_0` ... `action_5`
- Row count preserved: 119 source rows -> 119 TsFile rows across 2 files

## Video Alignment

Videos are not stored inside TsFile. They are mirrored under `videos/` and aligned by episode and frame:

```text
data/chunk-000/episode_000000.tsfile
videos/chunk-000/observation.images.laptop/episode_000000.mp4
videos/chunk-000/observation.images.phone/episode_000000.mp4
```

Within an episode, `frame_index` aligns with the video frame index, and `episode_timestamp_s` aligns with video time in seconds.

## Metadata

`meta/info.json` has been updated so:

```json
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile"
```

It also includes a `tsfile_conversion` object documenting the source path, converted path, TAG columns, time mapping, row count, and vector flattening.

## Citation

```bibtex
@misc{vacuame_train4,
  title  = {train4 (LeRobot SO-100)},
  author = {Vacuame},
  url    = {https://huggingface.co/datasets/Vacuame/train4},
  publisher = {Hugging Face}
}
```

The source HuggingFace dataset does not declare an explicit license.