| ---
|
| authors:
|
| - 120ft Factory AB
|
| - chrisvtom
|
| task_categories:
|
| - robotics
|
| tags:
|
| - tsfile
|
| - timeseries
|
| - tabular
|
| - robotics
|
| - lerobot
|
| - gr00t
|
| - unitree-g1
|
| modality:
|
| - timeseries
|
| - tabular
|
| pretty_name: First Thread GR00T TsFile
|
| configs:
|
| - config_name: default
|
| data_files:
|
| - split: train
|
| path: data/120ft_first_thread_gr00t_train.tsfile
|
| size_categories:
|
| - 10K<n<100K
|
| ---
|
|
|
| # First Thread GR00T TsFile
|
|
|
| This dataset is an Apache TsFile conversion of
|
| [`120ft/first-thread-gr00t`](https://huggingface.co/datasets/120ft/first-thread-gr00t), a LeRobot v2.1 / GR00T Unitree G1-D teleoperation
|
| dataset for the task **"thread lamp part"**.
|
|
|
| The converted repository contains time-series and tabular numeric robot data.
|
| The three camera streams remain in the original Hugging Face dataset and are
|
| not duplicated here.
|
|
|
| ## Source Dataset and Provenance
|
|
|
| - Original dataset: [`120ft/first-thread-gr00t`](https://huggingface.co/datasets/120ft/first-thread-gr00t)
|
| - Pinned source revision: [`b8a57a601ac099cec83fe0e49589e1032f2d197c`](https://huggingface.co/datasets/120ft/first-thread-gr00t/tree/b8a57a601ac099cec83fe0e49589e1032f2d197c)
|
| - Publisher/original organization: [120ft Factory AB (`120ft`)](https://huggingface.co/120ft)
|
| - Repository and video contributor: [`chrisvtom`](https://huggingface.co/chrisvtom)
|
| - License: **not declared by the source dataset card**
|
| - Paper/citation: not provided by the source dataset card
|
| - Robot type: `g1d`
|
| - LeRobot codebase version: `v2.1`
|
| - Task: `thread lamp part` (`task_index=0`)
|
| - Split: `train`
|
| - Sampling rate: 30 fps
|
| - Scale: 72 episodes, 96,960 frames, 1 task
|
| - Source Parquet layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| - Source Parquet shards: 72
|
|
|
| The source card states that the v2.1 GR00T form was converted from a v3.0
|
| dataset in the 120ft data-collection repository. This conversion uses the
|
| pinned published LeRobot v2.1 Parquet files as its authoritative numeric input.
|
|
|
| ## Converted Files
|
|
|
| - TsFile: `data/120ft_first_thread_gr00t_train.tsfile`
|
| - Table: `120ft_first_thread_gr00t_train`
|
| - Rows: 96,960
|
| - Episodes/devices: 72
|
| - Columns: 37 total (1 TIME, 2 TAG, 34 FIELD)
|
| - TsFile size: 6.30 MiB
|
| - Time precision: milliseconds
|
| - Metadata: source `meta/` files are preserved; `meta/info.json` is rewritten
|
| to describe the TsFile schema, mapping, provenance, and video policy.
|
|
|
| ## TsFile Schema
|
|
|
| `Time` is an INT64 millisecond timestamp computed as
|
| `round(timestamp * 1000)`. It restarts at zero in each episode.
|
|
|
| | Role | Columns | TsFile type |
|
| |---|---|---|
|
| | TIME | `Time` | INT64/TIMESTAMP |
|
| | TAG | `episode_index`, `task_index` | STRING device tags |
|
| | FIELD | `frame_index`, `sample_index` | INT64 |
|
| | FIELD | `observation_state_0` ... `observation_state_15` | FLOAT |
|
| | FIELD | `action_0` ... `action_15` | FLOAT |
|
|
|
| The 16 state/action dimensions retain the ordering documented in source
|
| `meta/info.json`: seven left-arm joints, seven right-arm joints, then left and
|
| right Dex1 gripper values.
|
|
|
| ## Conversion Notes
|
|
|
| - All 72 source episode Parquet files are merged into one train table-model
|
| TsFile. Filter by `episode_index` and `task_index` to select a trajectory.
|
| - `observation.state[16]` and `action[16]` are flattened to scalar FLOAT
|
| fields. Source prefixes are preserved and `.` is replaced with `_`.
|
| - Source `timestamp` is dropped after Time synthesis because it is exactly
|
| represented by `Time / 1000` seconds at millisecond precision.
|
| - Source `index` is retained as `sample_index`; `frame_index` is unchanged.
|
| - No source rows, episodes, tasks, or numeric vector dimensions are dropped.
|
|
|
| ## Encoding and Compression
|
|
|
| The conversion generated and fully validated both permitted numeric profiles,
|
| then selected the smaller valid result (`zstd`):
|
|
|
| - `Time`: `TS_2DIFF + LZ4`
|
| - FLOAT/DOUBLE FIELD values: `GORILLA + ZSTD`
|
| - INT32/INT64 FIELD values: `TS_2DIFF + ZSTD`
|
| - BOOLEAN FIELD values: `RLE + LZ4`
|
| - TAG values: TsFile table device/TAG mechanism (`PLAIN + LZ4` storage)
|
|
|
| The final TsFile is 0.5578 times the combined size of the 72 source
|
| Parquet files.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this converted repository. The pinned source has
|
| 216 frame-aligned H.264 480x640 MP4 files at 30 fps, split across three streams:
|
|
|
| - [`observation.images.head`](https://huggingface.co/datasets/120ft/first-thread-gr00t/tree/b8a57a601ac099cec83fe0e49589e1032f2d197c/videos/chunk-000/observation.images.head) - 72 per-episode MP4 files
|
| - [`observation.images.left_wrist`](https://huggingface.co/datasets/120ft/first-thread-gr00t/tree/b8a57a601ac099cec83fe0e49589e1032f2d197c/videos/chunk-000/observation.images.left_wrist) - 72 per-episode MP4 files
|
| - [`observation.images.right_wrist`](https://huggingface.co/datasets/120ft/first-thread-gr00t/tree/b8a57a601ac099cec83fe0e49589e1032f2d197c/videos/chunk-000/observation.images.right_wrist) - 72 per-episode MP4 files
|
|
|
| Source template: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`. Numeric rows remain aligned
|
| with the original videos through `episode_index`, `frame_index`, and source
|
| episode metadata.
|
|
|
| ## Validation
|
|
|
| Local validation checks source and staged row counts, unique
|
| `(episode_index, task_index, Time)` keys, per-episode monotonic Time, table/TAG
|
| schema, full Java query readback, SHA-256, and actual per-column encodings and
|
| compression. Conversion scripts and validation reports are intentionally not
|
| part of the upload-ready dataset.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
|
| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/120ft_first_thread_gr00t_train.tsfile")
|
| table_name = "120ft_first_thread_gr00t_train"
|
| columns = [
|
| "episode_index",
|
| "task_index",
|
| "frame_index",
|
| "sample_index",
|
| "observation_state_0",
|
| "action_0",
|
| ]
|
|
|
| with reader.query_table(table_name, columns, batch_size=65536) as result:
|
| batch = result.read_arrow_batch()
|
| print(batch.to_pandas().head())
|
| reader.close()
|
| ```
|
|
|
| ## Citation
|
|
|
| The source dataset does not provide a paper or completed citation. Cite the
|
| original Hugging Face dataset, 120ft Factory AB, and the pinned source revision
|
| when using this converted artifact.
|
|
|
