Datasets:

azithromycin
/

M3thRocks_so101_test13

license: apache-2.0
authors:
  - Mathias
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - tabular
  - robotics
  - lerobot
  - so101
  - tutorial
modality:
  - timeseries
  - tabular
pretty_name: SO101 Test13 TsFile
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/m3throcks_so101_test13.tsfile
size_categories:
  - 10K<n<100K

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()