Add TsFile (data/), README, and meta (info.json adjusted for tsfile)

README.md

@@ -0,0 +1,102 @@
+---
+license: other
+language:
+  - en
+pretty_name: "Vacuame/train4 (LeRobot SO-100) — TsFile"
+tags:
+  - time-series
+  - tsfile
+  - robotics
+  - lerobot
+  - so100
+  - manipulation
+task_categories:
+  - time-series-forecasting
+  - robotics
+---
+
+# Vacuame/train4 (LeRobot SO-100) — TsFile
+
+This dataset converts the numeric time-series of the HuggingFace LeRobot dataset
+[`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4)
+**losslessly to the [Apache TsFile](https://tsfile.apache.org/) format**, and keeps
+the original camera videos alongside.
+
+## Original dataset
+
+- **Source dataset**: [Vacuame/train4](https://huggingface.co/datasets/Vacuame/train4)
+- **Format**: LeRobot v2.0 (robot_type = `so100`)
+- **Content**: a small SO-100 robot-arm manipulation dataset — **119 frames /
+  2 episodes / 30 fps**, 1 task ("try"), with two RGB camera streams
+  (`laptop`, `phone`).
+
+## What is in this repository
+
+```
+data/
+└── vacuame_train4.tsfile          # numeric time-series (converted)
+videos/
+└── chunk-000/
+    ├── observation.images.laptop/episode_0000{00,01}.mp4   # copied verbatim
+    └── observation.images.phone/episode_0000{00,01}.mp4    # copied verbatim
+meta/
+├── info.json                      # original LeRobot info + tsfile_conversion notes
+├── tasks.jsonl                    # copied verbatim
+├── episodes.jsonl                 # copied verbatim
+└── stats.json                     # copied verbatim
+```
+
+## TsFile storage mapping (table model)
+
+| Role | Column(s) | Type | Notes |
+|------|-----------|------|-------|
+| **TAG** | `episode_id` | STRING | `episode_{episode_index}`, 2 devices (one per episode) |
+| **Time** | `round(frame_index * 1000 / 30)` ms | INT64 (ms) | 30 fps; frame_index restarts at 0 each episode |
+| **FIELD** | `state_0` … `state_5` | FLOAT | `observation.state[6]` expanded |
+| **FIELD** | `action_0` … `action_5` | FLOAT | `action[6]` expanded |
+| **FIELD** | `episode_index`, `frame_index`, `sample_index`, `task_index` | INT64 | indices (`index` → `sample_index`) |
+| **FIELD** | `episode_timestamp_s` | FLOAT | (`timestamp`) |
+
+## Conversion notes
+
+- **Only the numeric time-series is converted**. The `observation.images.*` features
+  are videos in LeRobot — their pixels live in the MP4 files under `videos/`, which
+  are kept verbatim here.
+- **TAG = `episode_id`** (2 devices). **Time = `round(frame_index × 1000/30)` ms**.
+  Because `frame_index` restarts at 0 within each episode and is strictly increasing,
+  every device's time axis is strictly increasing — no de-duplication or offset needed.
+- **Array columns expanded**: `observation.state[6]` → `state_0..state_5`,
+  `action[6]` → `action_0..action_5` (FLOAT, matching the source float32).
+- **Column names** with dots are made TsFile-safe (`next.*` etc.).
+- **No columns dropped, no rows dropped**: all 119 frames preserved (episode 0: 87,
+  episode 1: 32). The source data is one parquet per episode; they are merged on read.
+
+## Usage
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/vacuame_train4.tsfile")
+schemas = reader.get_all_table_schemas()
+tname = next(iter(schemas))
+
+cols = ["episode_id", "state_0", "action_0", "task_index"]
+with reader.query_table(tname, cols, batch_size=65536) as rs:
+    while (batch := rs.read_arrow_batch()) is not None:
+        df = batch.to_pandas()
+        # ... process ...
+reader.close()
+```
+
+## 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.

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["try"], "length": 87}
+{"episode_index": 1, "tasks": ["try"], "length": 32}

meta/info.json

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+{
+  "codebase_version": "v2.0",
+  "robot_type": "so100",
+  "total_episodes": 2,
+  "total_frames": 119,
+  "total_tasks": 1,
+  "total_videos": 4,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:2"
+  },
+  "data_path": "data/vacuame_train4.tsfile",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.images.laptop": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.phone": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "tsfile_conversion": {
+    "data_format": "tsfile",
+    "note": "data/ converted from the original LeRobot parquet (one-per-episode, merged) to a single Apache TsFile. Videos kept verbatim under videos/.",
+    "tsfile_table_name": "vacuame_train4",
+    "time_column": "Time",
+    "time_unit": "ms",
+    "time_definition": "round(frame_index * 1000/30) ms (30 fps); frame_index restarts per episode",
+    "tag_columns": [
+      "episode_id"
+    ],
+    "tag_definition": "episode_id = \"episode_{episode_index}\", one device per episode",
+    "column_mapping": {
+      "observation.state[6]": [
+        "state_0",
+        "state_1",
+        "state_2",
+        "state_3",
+        "state_4",
+        "state_5"
+      ],
+      "action[6]": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5"
+      ],
+      "timestamp": "episode_timestamp_s",
+      "index": "sample_index",
+      "observation.images.laptop": "kept as video under videos/ (not in tsfile)",
+      "observation.images.phone": "kept as video under videos/ (not in tsfile)"
+    }
+  }
+}

meta/stats.json

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+{
+    "action": {
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+            189.84375,
+            25.83984375,
+            81.9140625,
+            -87.451171875,
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+            0.0,
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+        "max": [
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+            189.84375,
+            25.83984375,
+            81.9140625,
+            -87.451171875,
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+        "min": [
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+            189.84375,
+            25.83984375,
+            81.9140625,
+            -87.451171875,
+            5.042016983032227
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+    "observation.state": {
+        "mean": [
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+            187.470703125,
+            24.609375,
+            80.595703125,
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+            4.279476165771484
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+    "observation.images.laptop": {
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+                [
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+                [
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+            [
+                [
+                    0.0
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+        ]
+    },
+    "observation.images.phone": {
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+                [
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+            ],
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+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "try"}