| ---
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| license: apache-2.0
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| authors:
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| - "Selinaliu1030"
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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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| modality:
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| - timeseries
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| - tabular
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| pretty_name: "Egg 0806 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/selinaliu1030_egg_0806.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # Egg 0806 TsFile
|
|
|
| This dataset is an Apache TsFile conversion of
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| [`Selinaliu1030/egg_0806`](https://huggingface.co/datasets/Selinaliu1030/egg_0806), a LeRobot v2.1 SO101 robot-manipulation dataset.
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| It contains numeric trajectories, timing, episode/task tags, and source
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| metadata. Videos remain in the original Hugging Face repository.
|
|
|
| ## Source Dataset and Attribution
|
|
|
| - Original dataset: [`Selinaliu1030/egg_0806`](https://huggingface.co/datasets/Selinaliu1030/egg_0806)
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| - Original author/publisher: [Selinaliu1030](https://huggingface.co/Selinaliu1030)
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| - Authorship note: the source card names no separate authors; this README
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| attributes the dataset to its Hugging Face repository publisher.
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| - License: Apache-2.0
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| - Task: "Grasp the egg and put it in the red bin."
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| - Robot: `so101`; LeRobot version: `v2.1`
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| - Split: `train`; sampling rate: 30 fps
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| - Scale: 90 episodes, 49,957 frames, 1 task
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| - Source shards: 90 Parquet files under
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| `data/chunk-000/episode_{episode_index:06d}.parquet`
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| - Paper/citation: the source card provides neither a paper nor a completed citation.
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|
|
| ## Schema
|
|
|
| | TsFile column(s) | Type | Role | Source |
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| | --- | --- | --- | --- |
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| | `Time` | INT64 | TIME | `round(timestamp * 1000)` ms |
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| | `episode_index` | STRING | TAG/device | source `episode_index` |
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| | `task_index` | STRING | TAG/device | source `task_index` |
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| | `frame_index` | INT64 | FIELD | source `frame_index` |
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| | `sample_index` | INT64 | FIELD | source `index` |
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| | `action_0` ... `action_5` | FLOAT | FIELD | flattened `action[6]` |
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| | `observation_state_0` ... `observation_state_5` | FLOAT | FIELD | flattened `observation.state[6]` |
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|
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| The six action/state dimensions are `main_shoulder_pan`,
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| `main_shoulder_lift`, `main_elbow_flex`, `main_wrist_flex`,
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| `main_wrist_roll`, and `main_gripper`. Dots in source vector names are replaced
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| by underscores. Time restarts at zero for every episode.
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|
|
| ## Conversion Details
|
|
|
| - The 90 train episode shards are merged into one table-model TsFile.
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| - Source `timestamp` is dropped after Time synthesis because it is exactly
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| represented by `Time / 1000` seconds.
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| - Source `index` is retained as `sample_index`; `frame_index` is unchanged.
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| - No numeric row, episode, task, state dimension, or action dimension is dropped.
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| - FLOAT/DOUBLE uses GORILLA + LZ4; INT32/INT64 and Time use TS_2DIFF + LZ4;
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| BOOLEAN uses RLE + LZ4; TAG values use the TsFile table/device mechanism.
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|
|
| ## Videos
|
|
|
| Videos are not included in this TsFile repository. The original dataset has
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| 180 frame-aligned AV1 MP4 files (301,079,898 bytes, about 287.1 MiB), 640x480,
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| 30 fps, no audio, in two streams:
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|
|
| - [`observation.images.laptop`](https://huggingface.co/datasets/Selinaliu1030/egg_0806/tree/efbe3ca1282a5e128d920c12c2b6c444036e6d17/videos/chunk-000/observation.images.laptop)
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| - [`observation.images.phone`](https://huggingface.co/datasets/Selinaliu1030/egg_0806/tree/efbe3ca1282a5e128d920c12c2b6c444036e6d17/videos/chunk-000/observation.images.phone)
|
|
|
| Each stream contains 90 files matching
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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
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|
|
| reader = TsFileReader("data/selinaliu1030_egg_0806.tsfile")
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| with reader.query_table(
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| "selinaliu1030_egg_0806",
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| ["episode_index", "task_index", "frame_index", "sample_index",
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| "action_0", "observation_state_0"],
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| batch_size=65536,
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| ) as result:
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| print(result.read_arrow_batch().to_pandas().head())
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| reader.close()
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| ```
|
|
|
