| ---
|
| license: apache-2.0
|
| authors:
|
| - Mathias
|
| task_categories:
|
| - robotics
|
| tags:
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| - tsfile
|
| - timeseries
|
| - tabular
|
| - robotics
|
| - lerobot
|
| - so101
|
| - tutorial
|
| modality:
|
| - timeseries
|
| - tabular
|
| pretty_name: SO101 Test13 TsFile
|
| configs:
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| - config_name: default
|
| data_files:
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| - split: train
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| path: data/m3throcks_so101_test13.tsfile
|
| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # SO101 Test13 TsFile
|
|
|
| Apache TsFile edition of [M3thRocks/so101_test13](https://huggingface.co/datasets/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)](https://huggingface.co/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`](https://huggingface.co/datasets/M3thRocks/so101_test13/tree/main/videos/chunk-000) in the original repository:
|
|
|
| - [`observation.images.laptop`](https://huggingface.co/datasets/M3thRocks/so101_test13/tree/main/videos/chunk-000/observation.images.laptop): 45 files, 499,994,290 bytes
|
| - [`observation.images.phone`](https://huggingface.co/datasets/M3thRocks/so101_test13/tree/main/videos/chunk-000/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
|
|
|
| ```python
|
| 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()
|
| ```
|
| |
