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Datasets:
THUgewu
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remove_green_duck

Tasks:
Robotics
Size:
10K<n<100K
Tags:
LeRobot
robotics
manipulation
so100
tsfile
modality:timeseries
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
  - manipulation
  - so100
  - tsfile
  - modality:timeseries
pretty_name: Remove Green Duck (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/kuphdev_remove_green_duck.tsfile
modality:
  - timeseries

Remove Green Duck (TsFile)

Apache TsFile version of KuphDev/remove_green_duck.

Overview

This dataset was created using LeRobot. It contains teleoperated demonstrations on an SO-class follower arm (robot_type = so_follower, 6 DoF) for one task: "Remove green duck from target". Each episode records joint state and commanded action vectors over time.

  • Modalities: Time-series.
  • Episodes: 60 demonstrations of one task.
  • Frames: 53,522 timesteps total, recorded at 30 fps.
  • Robot: SO follower arm, 6 joints including gripper.
  • Source format: LeRobot v3.0 Parquet plus video metadata.
  • Converted file: data/kuphdev_remove_green_duck.tsfile.

Schema

  • Time (TIME, INT64, milliseconds): per-frame timestamp, synthesized as round(timestamp * 1000). Time restarts at 0 for each episode.
  • episode_index (TAG, INT64): demonstration id, values 0 through 59.
  • task_index (TAG, INT64): task id, always 0 in this dataset.
  • frame_index (FIELD, INT64): frame number within each episode.
  • sample_index (FIELD, INT64): renamed from the source global index column.
  • observation_state_0 .. observation_state_5 (FIELD, FLOAT): measured joint positions.
  • action_0 .. action_5 (FIELD, FLOAT): commanded joint targets.

The 6 channels of observation.state and action are, in source order: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos.

Conversion Notes

  • Source data/chunk-*/*.parquet files were merged into one TsFile table named kuphdev_remove_green_duck.
  • Source vector columns were flattened without changing their semantic order: observation.state[6] became observation_state_0..observation_state_5, and action[6] became action_0..action_5.
  • Source episode_index and task_index are TsFile TAG columns. Query a single episode with a predicate such as WHERE episode_index = 0.
  • Source timestamp was dropped after conversion because it equals Time / 1000 seconds.
  • Source index was renamed to sample_index.
  • Source camera video feature observation.images.top is not included in this converted repository. The numeric time-series data can be aligned back to the original videos by episode_index, frame_index, and Time.
  • The source meta/ directory is mirrored, with meta/info.json updated to describe the converted TsFile schema and video policy.

Usage

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

# pip install tsfile
from tsfile import TsFileReader

reader = TsFileReader("data/kuphdev_remove_green_duck.tsfile")
# Example query intent: select one demonstration with WHERE episode_index = 0.

Videos

The original dataset records one camera stream per episode (observation.images.top). These MP4 videos are not included here; retrieve them from the original dataset under KuphDev/remove_green_duck/videos.

Source And License