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THUgewu
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so101_test

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
so101
robotics
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - so101
  - robotics
pretty_name: so101_test (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files: data/*.tsfile

so101_test (TsFile)

Apache TsFile version of enpeicv/so101_test.

Overview

A single-arm robot manipulation dataset recorded with an SO-101 arm (so101, 6 DOF). The task in every episode is to grasp a Lego block and put it in the bin. It was created with LeRobot (codebase version v2.1).

  • Scale: 50 episodes, 22,378 frames total.
  • Sampling rate: 30 fps.
  • Robot: so101 — single SO-101 arm, 6 DOF (5 joints + gripper).
  • Task: a single task, task_index = 0 — "Grasp a lego block and put it in the bin".

Schema (TsFile structure)

  • Time (INT64, milliseconds) — frame timestamp, round(timestamp * 1000). It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
  • episode_index (TAG) — which of the 50 episodes the row belongs to.
  • task_index (TAG) — the task identifier (always 0 here). Both tags form the TsFile device dimension; query one episode with WHERE episode_index=0.
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the original global index column.
  • action_0 .. action_5 (FIELD, FLOAT) — the commanded target positions, 6 values: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
  • observation_state_0 .. observation_state_5 (FIELD, FLOAT) — the measured joint/gripper positions, same 6-element layout as action.

The source timestamp column is dropped (it equals Time ÷ 1000 seconds). Vector columns are flattened single-precision FLOAT (. → _, element index appended, the observation. prefix stripped).

Usage

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

Notes

  • Camera video streams are not included in this repository. The original dataset has 2 camera views (observation.images.laptop, observation.images.phone, both 640×480) under its videos/ directory — see the original dataset for them.
  • meta/ from the source is mirrored alongside the data. Aside from the redundant timestamp column noted above, no columns or rows are dropped.

Source & license