codebase_version string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | humanoid_upper_body | 50 | 40,477 | 1 | 150 | 1 | 1,000 | 30 | {
"train": "0:50"
} | data/humanoid_pick_and_place.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "axiboai/humanoid_pick_and_place",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/humanoid_pick_and_place.tsfile",
"table_name": "humanoid_pick_and_place",
"granularity": "merged",
"time_precision": "ms",
"time_map... |
Humanoid Pick and Place (TsFile)
Apache TsFile version of axiboai/humanoid_pick_and_place.
Overview
Teleoperated demonstrations of a humanoid upper body performing a single pick-and-place task: "pick up cube and place in bin". Each episode records the synchronized joint states and motor action targets of a two-armed humanoid (14 arm/wrist joints plus a pinch-distance value per hand) sampled at 30 Hz.
- Robot:
humanoid_upper_body(dual arm, 16-DoF state/action vector). - Scale: 50 episodes, 40,477 frames, 1 task.
- Sampling rate: 30 fps.
- Cameras: 3 RGB streams (
cam_front,cam_left_wrist,cam_right_wrist), 480×640 — provided as video in the original dataset, see note below.
Schema (TsFile structure)
All 50 episodes are stored in a single .tsfile table. Episodes are addressed as
TsFile devices via the TAG columns.
- Time (INT64, milliseconds) —
round(timestamp * 1000); restarts at 0 each episode (33 ms steps at 30 fps). - episode_index (TAG) — source episode id (0–49). Query one episode with
WHERE episode_index=0. - task_index (TAG) — source task id (always 0; the single pick-and-place task).
- frame_index (FIELD, INT64) — frame number within the episode.
- sample_index (FIELD, INT64) — global sample index (source
index). - observation_state_0 … observation_state_15 (FIELD, FLOAT) — measured joint positions: left/right shoulder pitch·roll·yaw, elbow, wrist roll·pitch·yaw, and left/right hand pinch distance.
- action_0 … action_15 (FIELD, FLOAT) — commanded targets, same 16-element layout as the state vector.
The 16-element observation.state and action vectors are flattened to
<name>_0..<name>_15 (single-precision FLOAT). 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
- Original dataset: https://huggingface.co/datasets/axiboai/humanoid_pick_and_place
- Author / publisher: axiboai
- Camera videos (
cam_front,cam_left_wrist,cam_right_wrist) are not included in this repository; see the original datasetvideos/directory. - License: not declared by the original dataset; please defer to the original.
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