| ---
|
| license: apache-2.0
|
| authors:
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| - "Adrien Payan"
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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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| - robotics
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| - lerobot
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| - so100
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| - manipulation
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: "SO100 Ball8 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/apayan_so100_ball8.tsfile
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| size_categories:
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| - 100K<n<1M
|
| ---
|
|
|
| # SO100 Ball8 TsFile
|
|
|
| Apache TsFile conversion of [`apayan/so100_ball8`](https://huggingface.co/datasets/apayan/so100_ball8), a LeRobot v2.1 SO100 dataset
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| for "Grasp object and put it in the box." Numeric observations, actions, timing,
|
| and episode/task metadata are included; camera videos remain upstream.
|
|
|
| ## Source facts
|
|
|
| - Author/uploader: [Adrien Payan](https://huggingface.co/apayan)
|
| - License: Apache-2.0; pinned revision: [`f318cc9490b327bd1382e29c528f7d7348aa4716`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716)
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| - Robot: `so100`; split: `train`; sampling rate: 30 fps; task index `0`
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| - 104 episodes, 110,416 frames, 1 task, 104 source Parquet shards
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| - Source layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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| - Current metadata is authoritative; source README embeds a stale 5-episode/5,992-frame example.
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|
|
| ## Converted artifact
|
|
|
| - TsFile: `data/apayan_so100_ball8.tsfile`; table: `apayan_so100_ball8`
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| - Rows: 110,416; TAG devices: 104; size: 1.14 MiB (source Parquet: 4.58 MiB)
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| - `meta/` is mirrored; `meta/info.json` documents the TsFile mapping and video policy.
|
|
|
| ## Schema and conversion
|
|
|
| `Time = round(timestamp * 1000)` integer milliseconds, restarting per episode.
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| Source `timestamp` is dropped because it equals `Time / 1000` seconds. Rows
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| are sorted by `episode_index`, `task_index`, `Time`; `frame_index` is retained.
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|
|
| TAG/device columns: `episode_index`, `task_index` (source INT64, native TsFile TAG/device mechanism).
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|
|
| FIELD columns: `frame_index`, `sample_index` (renamed from `index`),
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| `action_0..action_5`, and `observation_state_0..observation_state_5` (FLOAT32).
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| No numeric rows, episodes, tasks, or vector dimensions are dropped.
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|
|
| Encoding/compression: FLOAT/DOUBLE -> GORILLA + LZ4; INT32/INT64 -> TS_2DIFF +
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| LZ4; Time -> TS_2DIFF + LZ4; BOOLEAN -> RLE + LZ4 (no BOOLEAN source fields).
|
|
|
| ## Videos
|
|
|
| Videos are not included here. The source has 312 MP4 files (104 episodes x
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| three 30-fps streams):
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| - [`observation.images.front`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.front)
|
| - [`observation.images.top`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.top)
|
| - [`observation.images.wrist`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.wrist)
|
|
|
| Template: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
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| Use `episode_index` and `frame_index` to align rows with source video frames;
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| `meta/episodes.jsonl` is mirrored.
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|
|
| ## Validation
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|
|
| All 104 Parquet schemas matched and the staged table exactly matched the
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| independent transformation. TsFile inspection found one table, 2 TAG columns,
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| 14 FIELD columns, and 110,416 metadata rows; query readback returned
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| 110,416 rows. Reports remain local at
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| `D:/code/workdir/apayan_so100_ball8/validation_report.json` and
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| `D:/code/workdir/apayan_so100_ball8/VALIDATION.md`.
|
|
|
| ## Minimal read example
|
|
|
| ```python
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| from tsfile import TsFileReader
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| reader = TsFileReader("data/apayan_so100_ball8.tsfile")
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| columns = ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"]
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| with reader.query_table("apayan_so100_ball8", columns, batch_size=65536) as result:
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| print(result.read_arrow_batch().to_pandas().head())
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| reader.close()
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| ```
|
|
|
| The source card provides no paper or completed citation; cite the original
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| Hugging Face dataset and Adrien Payan (`apayan`).
|
|
|
