diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..037a0853dd8c65552389b37f5f775a8bca3e68ed 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +data/eval1_chengming.tsfile filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..63ed8e246f3aa6b97aa961d5730fb85fa4ee75cf --- /dev/null +++ b/README.md @@ -0,0 +1,92 @@ +--- +pretty_name: eval1_chengming TsFile +tags: +- TsFile +- time-series +- robotics +- LeRobot +- SO-101 +- imitation-learning +modality: timeseries +configs: +- config_name: default + data_files: + - split: train + path: data/eval1_chengming.tsfile +--- + +# eval1_chengming + +This dataset was converted from +[`robot-learning-group47/eval1_chengming`](https://huggingface.co/datasets/robot-learning-group47/eval1_chengming) +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 +- Robot type: `so_follower` +- Split: `train` +- Episodes: 60 +- Frames / TsFile rows: 13,408 +- Tasks: 3 +- 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)` +- TAG columns: `episode_index`, `task_index` +- FIELD columns: `frame_index`, `sample_index`, `action_0..action_5`, + `observation_state_0..observation_state_5` + +The six action and observation-state dimensions use the original LeRobot joint +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. +- 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. +- 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. +- 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 +from tsfile import TsFileReader + +reader = TsFileReader("data/eval1_chengming.tsfile") +schemas = reader.get_all_table_schemas() +print(schemas.keys()) +``` diff --git a/data/eval1_chengming.tsfile b/data/eval1_chengming.tsfile new file mode 100644 index 0000000000000000000000000000000000000000..a7953459ad107802b6be86df60382006a4946cb1 --- /dev/null +++ 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