| ---
|
| license: apache-2.0
|
| authors:
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| - Reuben Lim Yaw Hui
|
| task_categories:
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| - robotics
|
| tags:
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| - tsfile
|
| - timeseries
|
| - tabular
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: SO101 Ball in Cup TsFile
|
| 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/reubenlim_so101_ball_in_cup.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # SO101 Ball in Cup TsFile
|
|
|
| This is an Apache TsFile conversion of
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| [`ReubenLim/so101_ball_in_cup`](https://huggingface.co/datasets/ReubenLim/so101_ball_in_cup), a LeRobot v2.1 SO101
|
| dataset for picking up a ball and placing it in a cup.
|
|
|
| ## Source and provenance
|
|
|
| - Original dataset: [`ReubenLim/so101_ball_in_cup`](https://huggingface.co/datasets/ReubenLim/so101_ball_in_cup)
|
| - Pinned source revision: [`811ff35e5d324f666941ad289c06de4d13980538`](https://huggingface.co/datasets/ReubenLim/so101_ball_in_cup/tree/811ff35e5d324f666941ad289c06de4d13980538)
|
| - Repository owner, uploader, and commit author: [Reuben Lim Yaw Hui (`ReubenLim`)](https://huggingface.co/ReubenLim)
|
| - License: Apache-2.0
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| - Paper/citation: not provided by the source repository
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| - Robot: `so101`; LeRobot codebase: `v2.1`
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| - Split: `train`; sampling frequency: 30 fps
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| - Task 0: `Pick up the ball and place it in the cup.`
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| - Scale: 61 episodes, 57,839 rows, one task, 61 source Parquet shards
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| - Source data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
|
|
| The source README still embeds an obsolete 23-episode `info.json` example.
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| The counts above come from the pinned repository `meta/info.json`, all source
|
| Parquet footers, and the complete repository tree.
|
|
|
| ## Converted artifact
|
|
|
| - TsFile: `data/reubenlim_so101_ball_in_cup.tsfile`
|
| - Table: `reubenlim_so101_ball_in_cup`
|
| - Rows/devices: 57,839 / 61
|
| - Time precision: milliseconds
|
| - Source Parquet size: 2,754,715 bytes
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| - TsFile size: 780,173 bytes
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| - TsFile/source size ratio: 0.283214
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| - `meta/` is preserved, with `meta/info.json` updated for this TsFile artifact.
|
|
|
| ## Schema
|
|
|
| | Column or group | TsFile role | Type | Notes |
|
| |---|---|---|---|
|
| | `Time` | TIME | INT64 | `round(timestamp * 1000)` ms; restarts at zero per episode |
|
| | `episode_index` | TAG | STRING | Original integer value stored as a TsFile device/TAG segment |
|
| | `task_index` | TAG | STRING | Original integer value stored as a TsFile device/TAG segment |
|
| | `frame_index` | FIELD | INT64 | Original per-episode frame index |
|
| | `sample_index` | FIELD | INT64 | Renamed from source `index` |
|
| | `action_0` ... `action_5` | FIELD | FLOAT | Flattened source `action[6]` |
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| | `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened source `observation.state[6]` |
|
|
|
| Vector prefixes preserve their source names, with `.` replaced by `_`.
|
|
|
| ## Conversion details
|
|
|
| - `Time`: `TS_2DIFF + LZ4`
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| - FLOAT/DOUBLE: `GORILLA + LZ4`
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| - INT32/INT64: `TS_2DIFF + LZ4`
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| - BOOLEAN: `RLE + LZ4` when present; this source has no BOOLEAN field
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| - TAG values use the TsFile table-model device/tag mechanism.
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| - All train episodes are merged into one table and sorted by TAG columns and `Time`.
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| - Source `timestamp` is dropped because it is represented by `Time / 1000` seconds.
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| - No numeric rows, action/state dimensions, frame indexes, episode indexes, or task indexes are dropped.
|
| - Camera pixels are video assets rather than Parquet columns and are not embedded in TsFile.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this TsFile dataset. The original repository stores
|
| 183 frame-aligned AV1 MP4 files: 61 episodes for each of the `front`,
|
| `overhead`, and `side` streams under [`videos/chunk-000/`](https://huggingface.co/datasets/ReubenLim/so101_ball_in_cup/tree/811ff35e5d324f666941ad289c06de4d13980538/videos/chunk-000).
|
| The exact template is
|
| `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
|
| The source videos total 1,585,929,900 bytes and are 640x480 at 30 fps without
|
| audio. Stream sizes are 573,779,857 bytes (`front`), 483,143,898 bytes
|
| (`overhead`), and 529,006,145 bytes (`side`). Use `episode_index` and
|
| `frame_index` to align TsFile rows with all three views.
|
|
|
| ## Validation
|
|
|
| Local validation read all 57,839 rows with the Apache TsFile
|
| Java reader, checked the physical codecs, TAG schema, per-episode Time ordering,
|
| vector widths, duplicate TAG+Time keys, and the source/staged/TsFile row counts.
|
| The conversion script and validation reports stay local and are not part of the
|
| upload-ready dataset directory.
|
|
|
| ## Minimal read example
|
|
|
| ```python
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| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/reubenlim_so101_ball_in_cup.tsfile")
|
| columns = [
|
| "episode_index",
|
| "task_index",
|
| "frame_index",
|
| "sample_index",
|
| "action_0",
|
| "observation_state_0",
|
| ]
|
| with reader.query_table("reubenlim_so101_ball_in_cup", columns, batch_size=65536) as result:
|
| batch = result.read_arrow_batch()
|
| print(batch.to_pandas().head())
|
| reader.close()
|
| ```
|
|
|
| ## Citation
|
|
|
| The source repository provides no formal citation. Cite the original Hugging
|
| Face dataset and its repository author `Reuben Lim Yaw Hui (ReubenLim)` when
|
| using this conversion.
|
|
|
