| ---
|
| pretty_name: eval1_chengming TsFile
|
| tags:
|
| - tsfile
|
| - time-series
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| - robotics
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| - LeRobot
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| - SO-101
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| - imitation-learning
|
| - timeseries
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| modality: timeseries
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| configs:
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| - config_name: default
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| data_files:
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| - split: train
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| path: data/eval1_chengming.tsfile
|
| ---
|
|
|
| # eval1_chengming
|
|
|
| This dataset was converted from
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| [`robot-learning-group47/eval1_chengming`](https://huggingface.co/datasets/robot-learning-group47/eval1_chengming)
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| to Apache TsFile format.
|
|
|
| Modalities: Time-series. The original dataset also contains a front-camera
|
| video stream, which remains in the source Hugging Face dataset and is not
|
| included in this converted repository.
|
|
|
| ## Source Dataset
|
|
|
| - Original dataset: [`robot-learning-group47/eval1_chengming`](https://huggingface.co/datasets/robot-learning-group47/eval1_chengming)
|
| - Source format: LeRobot v3 parquet frames with metadata and one front-camera video stream
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| - Robot type: `so_follower`
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| - Split: `train`
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| - Episodes: 60
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| - Frames / TsFile rows: 13,408
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| - Tasks: 3
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| - Sampling rate: 15 fps
|
| - License metadata: not provided by the source dataset card
|
| - Original data path: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
|
| - Original video path: `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`
|
|
|
| The episode metadata names three task variants: put the banana in the red,
|
| green, or blue colored bowl.
|
|
|
| ## Files
|
|
|
| - `data/eval1_chengming.tsfile`: converted numeric time-series table
|
| - `meta/`: source metadata mirrored from the original dataset, with
|
| `meta/info.json` rewritten to describe the converted TsFile layout
|
|
|
| Videos are not included in this repository. The original camera video stream
|
| `observation.images.front` remains in the source dataset under
|
| [`videos/`](https://huggingface.co/datasets/robot-learning-group47/eval1_chengming/tree/main/videos).
|
|
|
| ## Schema
|
|
|
| The TsFile table name is `eval1_chengming`.
|
|
|
| - `Time`: integer timestamp in milliseconds, synthesized as `round(timestamp * 1000)`
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| - TAG columns: `episode_index`, `task_index`
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| - FIELD columns: `frame_index`, `sample_index`, `action_0..action_5`,
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| `observation_state_0..observation_state_5`
|
|
|
| The six action and observation-state dimensions use the original LeRobot joint
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| order: `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`,
|
| `wrist_flex.pos`, `wrist_roll.pos`, and `gripper.pos`.
|
|
|
| ## Conversion Notes
|
|
|
| - Converted with the generic `lerobot` converter in the HuggingFace-to-TsFile
|
| pipeline.
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| - All 60 episodes are stored in one TsFile. Use `episode_index` and
|
| `task_index` as TAG filters when querying.
|
| - Source `action[6]` was flattened to `action_0..action_5` as FLOAT fields.
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| - Source `observation.state[6]` was flattened to `observation_state_0..5` as
|
| FLOAT fields.
|
| - Source `index` was renamed to `sample_index`.
|
| - Source `timestamp` is not retained as a separate field because the same
|
| information is represented by `Time / 1000` seconds.
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| - Source video field `observation.images.front` is omitted from this TsFile
|
| conversion and remains available in the original dataset.
|
| - No rows were dropped.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
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| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/eval1_chengming.tsfile")
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| schemas = reader.get_all_table_schemas()
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| print(schemas.keys())
|
| ```
|
|
|
