azithromycin/M3thRocks_so101_test13

SO101 Test13 TsFile

Apache TsFile edition of M3thRocks/so101_test13, a LeRobot v2.1 SO101 dataset for grasping a LEGO block and putting it in a bin. The numeric trajectories are stored in one table-model TsFile.

Source and attribution

• Original author and repository owner: Mathias (M3thRocks). Repository commits are attributed to des.
• License: Apache-2.0.
• The source card does not provide a homepage, paper, or completed BibTeX citation.
• Split: train; 45 episodes; 30,519 frame rows; one task; 30 FPS; 45 source Parquet shards.
• Task 0: Grasp a lego block and put it in the bin.

Data layout

The table is m3throcks_so101_test13 and contains 30,519 rows across 45 TAG devices. The source Parquet shards total 1,528,259 bytes; the TsFile is 515,055 bytes (33.7% of the source Parquet size).

Column	TsFile role	Type	Meaning
Time	TIME	INT64 milliseconds	round(timestamp * 1000), restarting at zero per episode
episode_index	TAG	STRING from source INT64	Source episode identity
task_index	TAG	STRING from source INT64	Source task identity
frame_index	FIELD	INT64	Frame position within the episode
sample_index	FIELD	INT64	Source index, renamed for clarity
action_0 ... action_5	FIELD	FLOAT	Flattened action[6]
observation_state_0 ... observation_state_5	FIELD	FLOAT	Flattened observation.state[6]

timestamp is not retained as a separate FIELD because it is represented by Time / 1000 seconds. The vector column names preserve their source prefixes, with dots changed to underscores. No trajectory row, episode, task, action dimension, or state dimension is removed.

Encoding and compression

• TIME, INT32, and INT64: TS_2DIFF + LZ4
• FLOAT and DOUBLE: GORILLA + LZ4
• BOOLEAN, when present: RLE + LZ4
• TAG values: TsFile table-model device/tag storage

Videos and alignment

The 90 source AV1 videos are not included here. They remain under videos/chunk-000 in the original repository:

• observation.images.laptop: 45 files, 499,994,290 bytes
• observation.images.phone: 45 files, 479,124,167 bytes

The source template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Use episode_index and frame_index to align each numeric row with both 30 FPS video streams.

Read example

from tsfile import TsFileReader

reader = TsFileReader("data/m3throcks_so101_test13.tsfile")
with reader.query_table(
    "m3throcks_so101_test13",
    ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"],
    batch_size=1024,
) as result:
    batch = result.read_arrow_batch()
    print(batch.to_pandas().head())
reader.close()