| ---
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| license: apache-2.0
|
| authors:
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| - "Beegbrain"
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| task_categories:
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| - robotics
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| tags:
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| - tsfile
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| - timeseries
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| - tabular
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| - robotics
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| - lerobot
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| - so100
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| - manipulation
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: "SO100 Put Cube in Cup TsFile"
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| configs:
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| - config_name: default
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| data_files:
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| - split: train
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| path: data/beegbrain_so100_put_cube_cup.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # SO100 Put Cube in Cup TsFile
|
|
|
| This Apache TsFile edition comes from
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| [`Beegbrain/so100_put_cube_cup`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup), a LeRobot v2.0 SO100
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| robot-manipulation dataset. It contains numeric robot trajectories, frame
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| timing, and episode/task tags. Camera videos remain in the original repository.
|
|
|
| ## Source Dataset and Attribution
|
|
|
| - Original dataset: [`Beegbrain/so100_put_cube_cup`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup)
|
| - Original author/uploader: [Beegbrain](https://huggingface.co/Beegbrain)
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| - Authorship evidence: the repository shows Beegbrain as its owner, uploader,
|
| and sole contributor. The source card gives no separate author list.
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| - License: Apache-2.0
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| - Task: "Put the red cube in the red cup."
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| - Robot: `so100`; LeRobot version: `v2.0`
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| - Split: `train`; sampling rate: 15 fps
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| - Scale: 50 episodes, 10,778 frames, 1 task
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| - Source layout: 50 Parquet shards at
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| `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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|
|
| ## TsFile Data
|
|
|
| - Path: `data/beegbrain_so100_put_cube_cup.tsfile` (293,817 bytes)
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| - Table: `beegbrain_so100_put_cube_cup`
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| - Rows: 10,778; episodes/devices: 50; tasks: 1
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| - Time precision: milliseconds
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| - TsFile/source-Parquet size ratio: 0.371
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| - Source metadata remains under `meta/`, with `meta/info.json` describing the
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| TsFile layout.
|
|
|
| ## Schema
|
|
|
| `Time = round(timestamp * 1000)` milliseconds. Time restarts at zero in every
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| episode. Source `timestamp` is omitted afterward because it equals
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| `Time / 1000` seconds.
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|
|
| TAG columns, stored through the TsFile table/device mechanism:
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|
|
| - `episode_index`
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| - `task_index`
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|
|
| Scalar FIELD columns:
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|
|
| - `frame_index`
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| - `sample_index` (renamed from source `index`)
|
|
|
| Flattened FLOAT FIELD groups:
|
|
|
| - `action[6]` -> `action_0` ... `action_5`
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| - `observation.state[6]` -> `observation_state_0` ... `observation_state_5`
|
|
|
| The six dimensions are `main_shoulder_pan`, `main_shoulder_lift`,
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| `main_elbow_flex`, `main_wrist_flex`, `main_wrist_roll`, and `main_gripper`.
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| Dots in source vector names become underscores. No numeric row, episode, task,
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| or vector dimension is dropped.
|
|
|
| ## Encodings and Compression
|
|
|
| - FLOAT/DOUBLE: GORILLA + LZ4
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| - INT32/INT64: TS_2DIFF + LZ4
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| - Time: TS_2DIFF + LZ4
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| - BOOLEAN: RLE + LZ4 (the source has no BOOLEAN field)
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| - TAG: TsFile table/device storage
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|
|
| The physical table schema, Time codec, every FIELD codec, and all 10,778 rows
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| were read back with the Apache TsFile Java API.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this TsFile repository. The source has 100
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| frame-aligned AV1 MP4 files (155,224,490 bytes, about 148.0 MiB), 640x480,
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| 15 fps, no audio, in two streams:
|
|
|
| - [`observation.images.realsense_side`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup/tree/main/videos/chunk-000/observation.images.realsense_side)
|
| - [`observation.images.realsense_top`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup/tree/main/videos/chunk-000/observation.images.realsense_top)
|
|
|
| Each stream uses
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| `videos/chunk-000/{video_key}/episode_{episode_index:06d}.mp4`.
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| `episode_index`, `frame_index`, and `meta/episodes.jsonl` preserve alignment.
|
|
|
| ## Usage
|
|
|
| ```python
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| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/beegbrain_so100_put_cube_cup.tsfile")
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| with reader.query_table(
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| "beegbrain_so100_put_cube_cup",
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| ["episode_index", "task_index", "frame_index", "sample_index",
|
| "action_0", "observation_state_0"],
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| batch_size=65536,
|
| ) as result:
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| print(result.read_arrow_batch().to_pandas().head())
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| reader.close()
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| ```
|
|
|
| ## Source Notes
|
|
|
| The source card states that the dataset was created with
|
| [LeRobot](https://github.com/huggingface/lerobot). It does not provide a paper
|
| or completed BibTeX citation.
|
|
|
