| ---
|
| license: apache-2.0
|
| authors:
|
| - Achal Patel
|
| task_categories:
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| - robotics
|
| tags:
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| - tsfile
|
| - timeseries
|
| - tabular
|
| - robotics
|
| - lerobot
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| - bimanual
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| - handover
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| - mobile-robot
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: Test Mobile Bimanual Converted (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/ac_pate_test_mobile_bimanual_converted.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # Test Mobile Bimanual Converted (TsFile)
|
|
|
| This dataset is an Apache TsFile conversion of
|
| [`ac-pate/test_mobile_bimanual_converted`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted), a LeRobot mobile bimanual manipulation dataset.
|
| It contains numeric robot actions, states, frame timing, and episode/task tags.
|
| Videos remain in the original Hugging Face dataset and are not duplicated.
|
|
|
| ## Source Dataset and Author
|
|
|
| - Original dataset: [`ac-pate/test_mobile_bimanual_converted`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted)
|
| - Original author, repository owner, and uploader: [Achal Patel (`ac-pate`)](https://huggingface.co/ac-pate)
|
| - License: Apache-2.0
|
| - Robot type: `mimic_follower`
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| - LeRobot codebase version: `v3.0`
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| - Task (`task_index=0`): Grasp the blue block from one side using one arm and transfer it to the other arm on the opposite side
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| - Split: `train`, episodes 0 through 24
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| - Sampling rate: 30 fps
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| - Scale: 25 episodes, 15,177 frames, 1 task
|
| - Source Parquet layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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| - Source Parquet shards: 25
|
| - Paper, homepage, and completed citation: not provided by the source card
|
|
|
| The pinned Parquet files, v3 feature metadata, and remote file tree are
|
| authoritative for this conversion. The source README embeds an older v2.1
|
| description with 12-dimensional vectors and three video streams. The current
|
| repository contains 15-dimensional vectors and four streams; the remote tree
|
| also corrects the stale `total_videos: 75` count and video path order in source
|
| `meta/info.json` to 100 files under `videos/{video_key}/chunk-000/`.
|
|
|
| ## TsFile Schema
|
|
|
| `Time` is an INT64 millisecond timestamp computed as
|
| `round(timestamp * 1000)`. It starts at zero and is strictly increasing within
|
| each episode.
|
|
|
| | Role | Columns | TsFile type |
|
| |---|---|---|
|
| | TIME | `Time` | INT64/TIMESTAMP |
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| | TAG | `episode_index`, `task_index` | STRING device tags |
|
| | FIELD | `frame_index`, `sample_index` | INT64 |
|
| | FIELD | `observation_state_0` ... `observation_state_14` | FLOAT |
|
| | FIELD | `action_0` ... `action_14` | FLOAT |
|
|
|
| The 15 state/action dimensions retain the source order: six left-arm values,
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| six right-arm values, then three mobile-base values. In the action vector the
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| base values are `base_vx`, `base_vy`, and `base_omega`; in state they are
|
| `base_x`, `base_y`, and `base_theta`.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this converted repository. The pinned source has
|
| 100 frame-aligned AV1 MP4 files at 30 fps, split
|
| across four streams:
|
|
|
| - [`observation.images.front`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted/tree/129014a57baadd90b8fdb277a2866991a81b2b9a/videos/observation.images.front) - 25 per-episode MP4 files
|
| - [`observation.images.left_wrist`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted/tree/129014a57baadd90b8fdb277a2866991a81b2b9a/videos/observation.images.left_wrist) - 25 per-episode MP4 files
|
| - [`observation.images.right_wrist`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted/tree/129014a57baadd90b8fdb277a2866991a81b2b9a/videos/observation.images.right_wrist) - 25 per-episode MP4 files
|
| - [`observation.images.top`](https://huggingface.co/datasets/ac-pate/test_mobile_bimanual_converted/tree/129014a57baadd90b8fdb277a2866991a81b2b9a/videos/observation.images.top) - 25 per-episode MP4 files
|
|
|
| Source template: `videos/{video_key}/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.mp4`. Each stream has one file per
|
| episode. Numeric rows remain aligned with the original videos through
|
| `episode_index`, `frame_index`, and `meta/episodes/`.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
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| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/ac_pate_test_mobile_bimanual_converted.tsfile")
|
| table_name = "ac_pate_test_mobile_bimanual_converted"
|
| columns = [
|
| "episode_index",
|
| "task_index",
|
| "frame_index",
|
| "sample_index",
|
| "observation_state_0",
|
| "action_0",
|
| ]
|
|
|
| with reader.query_table(table_name, columns, batch_size=65536) as result:
|
| batch = result.read_arrow_batch()
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| print(batch.to_pandas().head())
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| reader.close()
|
| ```
|
|
|
| ## Citation
|
|
|
| The source dataset does not provide a paper or completed citation. Cite Achal
|
| Patel, the original Hugging Face dataset, and the pinned source revision when
|
| using this converted artifact.
|
|
|
