| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - humanoid |
| - robotics |
| - time-series |
| - tsfile |
| - modality:timeseries |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/first_humanoid_dataset.tsfile |
| --- |
| |
| # first_humanoid_dataset |
|
|
| Converted Apache TsFile version of [`skyzos/first-humanoid-dataset`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset), a LeRobot v2.1 humanoid manipulation dataset. |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`skyzos/first-humanoid-dataset`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset) |
| - License: `apache-2.0` |
| - Task: `pick the block with the right arm and put it in the middle, then use the left arm and put it in the middle.` |
| - Source split: `train` |
| - Source scale from `meta/info.json`: 19 episodes, 2,285 frames, 1 task, 57 videos, 30 fps |
| - Robot type: not specified in the source `meta/info.json` |
| - Modalities: Time-series. The source repository also contains videos, but this converted repository stores only numeric robot state/action time-series data and metadata. |
|
|
| ## TsFile Layout |
|
|
| - Data file: `data/first_humanoid_dataset.tsfile` |
| - Table name: `first_humanoid_dataset` |
| - Rows: 2,285 |
| - Time precision: milliseconds |
| - TAG columns: `episode_index`, `task_index` |
| - FIELD columns: `frame_index`, `sample_index`, `observation_state_0` through `observation_state_31`, and `action_0` through `action_13` |
|
|
| The converted table uses the original LeRobot `episode_index` and `task_index` columns as TsFile TAG columns. Query one episode by filtering on `episode_index`. |
|
|
| ## Conversion Notes |
|
|
| - Converted with the generic `lerobot` converter in the `huggingface_to_tsfile` pipeline. |
| - `Time = round(timestamp * 1000)` in milliseconds and restarts per episode. |
| - The source `timestamp` column is not retained as a separate FIELD because it is redundant with `Time / 1000`. |
| - The source `index` column is renamed to `sample_index`. |
| - Vector columns are flattened while preserving the full source column name with `.` replaced by `_`: `observation.state[32]` becomes `observation_state_0..observation_state_31`, and `action[14]` becomes `action_0..action_13`. |
| - Numeric arrays are stored as single-precision FLOAT fields. |
| - Source videos are not uploaded here. They remain in the original dataset under [`videos/`](https://huggingface.co/datasets/skyzos/first-humanoid-dataset/tree/main/videos). |
| - The source repository also contains unrelated `nvim-linux-x86_64/` files; those files are intentionally excluded from this time-series conversion. |
| - `meta/` is mirrored from the source except that `meta/info.json` describes the converted TsFile artifact and records the original video path separately. |
|
|
| ## Read Example |
|
|
| Use Apache TsFile tooling or SDKs to read: |
|
|
| ```text |
| data/first_humanoid_dataset.tsfile |
| ``` |
|
|
