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Datasets:
THUgewu
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pusht_v2_keypoints

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - robotics
pretty_name: pusht_v2_keypoints (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/pusht_v2_keypoints.tsfile

pusht_v2_keypoints (TsFile)

Apache TsFile version of cadene/pusht_v2_keypoints.

Overview

The keypoints variant of the PushT benchmark, formatted with LeRobot. A 2D pointer agent pushes a T-shaped block onto a T-shaped target region. Each frame records the agent state, the action, the environment keypoint state, and the step reward / success flag.

  • Robot: 2d pointer (2D agent).
  • Task: "Push the T-shaped blue block onto the T-shaped green target surface." (1 task).
  • Scale: 206 episodes, 25,650 frames, single train split.
  • Sampling rate: 10 fps.
  • Videos: none — this dataset stores keypoints, not images.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000), restarts per episode.
  • episode_index (TAG) — episode device dimension; query one episode with WHERE episode_index=0.
  • task_index (TAG) — task device dimension (single task here).
  • frame_index (FIELD, INT64) — original per-episode frame counter.
  • sample_index (FIELD, INT64) — source index column, renamed.
  • next_reward (FIELD, FLOAT) — step reward (source next.reward).
  • next_success (FIELD, BOOLEAN) — step success flag (source next.success).
  • observation_state_0..1 (FIELD, FLOAT) — 2D agent position.
  • action_0..1 (FIELD, FLOAT) — 2D action.
  • observation_environment_state_0..15 (FIELD, FLOAT) — the 8 (x, y) keypoints describing the T block / agent geometry.

Vector columns are flattened by preserving the source name (. → _) and appending the element index. 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