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Datasets:
THUgewu
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cable_insertion_2

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
cable-insertion
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - robotics
  - cable-insertion
  - imitation-learning
  - manipulation
pretty_name: Cable Insertion 2 (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/cable_insertion_2.tsfile

Cable Insertion 2 (TsFile)

Apache TsFile version of DistantSky/cable_insertion_2.

Overview

Real-robot teleoperation demonstrations of a cable-insertion task — "insert the cable into the holder" — recorded on a hessian robot. Each episode is one demonstration with per-frame robot state, velocity, and both processed and raw actions, captured at 60 fps.

  • Robot: hessian (14-DOF action / state space).
  • Episodes: 72 demonstrations of one task ("insert the cable into the holder").
  • Frames: 34,350 timesteps total, recorded at 60 fps.
  • Source format: LeRobot v2.1.

Schema (TsFile structure)

All 72 episodes are stored in a single .tsfile using the TsFile table model.

  • Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each episode (round(timestamp * 1000); ~17 ms apart at 60 fps).
  • episode_index (TAG) — demonstration id (0–71). Query a single episode with WHERE episode_index=0.
  • task_index (TAG) — task id (always 0; the dataset has one task).
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the source global index column.
  • prompt (FIELD, STRING) — the language instruction ("insert the cable into the holder"), repeated per frame.
  • source_action_time_s (FIELD, FLOAT) — source action timestamp in seconds.
  • source_raw_action_time_s (FIELD, FLOAT) — source raw-action timestamp in seconds.
  • observation_state_0 .. observation_state_13 (FIELD, FLOAT) — 14-D robot state.
  • observation_velocity_0 .. observation_velocity_13 (FIELD, FLOAT) — 14-D robot velocity.
  • action_0 .. action_13 (FIELD, FLOAT) — 14-D commanded action.
  • raw_action_0 .. raw_action_13 (FIELD, FLOAT) — 14-D raw action.

The source timestamp column is dropped because it equals Time / 1000. Camera videos and raw .npz episodes are not included in this repository (see below).

Usage

Read the .tsfile file with the Apache TsFile Java or Python SDK.

# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/cable_insertion_2.tsfile")
# query one episode: WHERE episode_index=0

Not included

  • Camera videos. The original dataset records three camera streams per episode (observation.images.video_left, observation.images.video_overhead, observation.images.video_right). These MP4 videos are not included here — they are not time-series data. Retrieve them from the original dataset under DistantSky/cable_insertion_2/videos.
  • Raw episodes. The original raw_episodes/*.npz files (raw unprocessed episodes) are not included; they are not tabular time-series data. See the original dataset for them.

Source & license