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Datasets:
THUgewu
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hardwarize_first_ds1

Tasks:
Robotics
Reinforcement Learning
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
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metadata 
license: apache-2.0
task_categories:
  - robotics
  - reinforcement-learning
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - robotics
pretty_name: Hardwarize first_ds1 (TsFile)
size_categories:
  - 10K<n<100K

Hardwarize first_ds1 (TsFile)

Apache TsFile version of Hardwarize/first_ds1.

Overview

A LeRobot dataset of keyboard-teleoperated episodes on the simulated Franka Panda cube-pick task PandaPickCubeKeyboard-v0. Each frame records the full robot state, the end-effector delta action, and the reinforcement-learning reward / done / penalty signals, sampled at 50 Hz.

  • Task: PandaPickCubeKeyboard-v0 (Franka Panda pick-cube, keyboard teleop).
  • Episodes: 100 trajectories.
  • Frames: 18,167 total time steps.
  • Tasks: 1.
  • Sampling rate: 50 fps.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — per-frame timestamp, restarting at 0 for each episode (round(timestamp * 1000)).
  • episode_index (TAG) — trajectory id; query one episode with WHERE episode_index=0.
  • task_index (TAG) — task id (always 0 here; the single task).
  • frame_index (FIELD, INT64) — frame counter within the episode.
  • sample_index (FIELD, INT64) — the source global index.
  • observation_state_0 .. observation_state_17 (FIELD, FLOAT) — the 18-dim robot state vector.
  • action_0 .. action_3 (FIELD, FLOAT) — end-effector delta action: delta_x_ee, delta_y_ee, delta_z_ee, gripper_delta.
  • next_reward (FIELD, FLOAT) — reward for the transition.
  • next_done (FIELD, BOOLEAN) — episode-termination flag (true on the last frame of each episode).
  • complementary_info_discrete_penalty (FIELD, FLOAT) — discrete penalty signal.

The source vector columns observation.state[18] and action[4] are flattened to single-precision FLOAT columns. The source timestamp column is dropped because it equals Time / 1000 seconds.

Usage

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

Source & license