---
license: apache-2.0
authors:
- Achal Patel
task_categories:
- robotics
tags:
- tsfile
- timeseries
- tabular
- robotics
- lerobot
- bimanual
- handover
- mobile-robot
modality:
- timeseries
- tabular
pretty_name: Test Mobile Bimanual Converted (TsFile)
configs:
- config_name: default
  data_files:
  - split: train
    path: data/ac_pate_test_mobile_bimanual_converted.tsfile
size_categories:
- 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`
- LeRobot codebase version: `v3.0`
- 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
- Split: `train`, episodes 0 through 24
- Sampling rate: 30 fps
- Scale: 25 episodes, 15,177 frames, 1 task
- Source Parquet layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- 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 |
| 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,
six right-arm values, then three mobile-base values. In the action vector the
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
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()
    print(batch.to_pandas().head())
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.