---
license: apache-2.0
authors:
- "Ishan Shah (Ishan-Axibo)"
task_categories:
- robotics
tags:
- tsfile
- timeseries
- tabular
- robotics
- lerobot
- manipulation
- bimanual
- cube-stacking
modality:
- timeseries
- tabular
pretty_name: "Piper Stacking EE TsFile"
configs:
- config_name: default
  data_files:
  - split: train
    path: data/piper_stacking_ee_train.tsfile
size_categories:
- 10K<n<100K
---

# Piper Stacking EE TsFile

This dataset is an Apache TsFile conversion of
[`axiboai/piper_stacking_ee`](https://huggingface.co/datasets/axiboai/piper_stacking_ee), a LeRobot v2.1 bimanual
robot-manipulation dataset for stacking a red cube on a blue cube.

Modalities: Time-series. The converted repository contains numeric robot
observations, actions, frame timing, episode/task tags, and mirrored source
metadata. All three camera video streams remain in the original Hugging
Face dataset.

## Source Dataset and Author

- Source dataset: [`axiboai/piper_stacking_ee`](https://huggingface.co/datasets/axiboai/piper_stacking_ee)
- Pinned source revision: [`7f79b7c26d815766cf0f6d041edde20e7033e573`](https://huggingface.co/datasets/axiboai/piper_stacking_ee/tree/7f79b7c26d815766cf0f6d041edde20e7033e573)
- Publishing organization: [AXIBO (`axiboai`)](https://huggingface.co/axiboai)
- Source uploader/contributor: [Ishan Shah (`Ishan-Axibo`)](https://huggingface.co/Ishan-Axibo)
- Authorship evidence: the source repository's file history attributes the uploaded dataset tree to `Ishan-Axibo`; the source card provides no separate formal author list.
- License: Apache-2.0
- Robot type: `piperx_bimanual_eef_6d`
- LeRobot codebase version: `v2.1`
- Task: Stack the red cube on the blue cube.
- Split: `train`
- Scale: 155 episodes, 60,656 frames, 1 task, 30 fps
- Episode lengths: 57 to 707 frames (mean 391.33)
- Source frame files: 155 Parquet files under `data/chunk-000/`
- Source frame layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- Source video layout: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
- Paper/citation: not supplied by the source dataset card

## Converted Files

- TsFile: `data/piper_stacking_ee_train.tsfile`
- Table: `piper_stacking_ee_train`
- Rows: 60,656
- Episodes/devices: 155
- Tasks: 1
- Time precision: milliseconds
- Metadata: `meta/` is mirrored from the source, with `meta/info.json` rewritten to describe the TsFile artifact and video policy.

## TsFile Schema

`Time` is synthesized as `round(timestamp * 1000)` milliseconds and restarts
from 0 for each episode.

TAG columns:

- `episode_index`
- `task_index`

Scalar FIELD columns:

- `frame_index`
- `sample_index`, renamed from source column `index`

Flattened FLOAT FIELD groups:

- `observation.state[20]` -> `observation_state_0` ... `observation_state_19`
- `action[20]` -> `action_0` ... `action_19`

The source uses the same 20-dimensional order for state and action:

| Index | Source dimension | State FIELD | Action FIELD |
|---:|---|---|---|
| 0 | `left_x` | `observation_state_0` | `action_0` |
| 1 | `left_y` | `observation_state_1` | `action_1` |
| 2 | `left_z` | `observation_state_2` | `action_2` |
| 3 | `left_rot6d_0` | `observation_state_3` | `action_3` |
| 4 | `left_rot6d_1` | `observation_state_4` | `action_4` |
| 5 | `left_rot6d_2` | `observation_state_5` | `action_5` |
| 6 | `left_rot6d_3` | `observation_state_6` | `action_6` |
| 7 | `left_rot6d_4` | `observation_state_7` | `action_7` |
| 8 | `left_rot6d_5` | `observation_state_8` | `action_8` |
| 9 | `left_gripper` | `observation_state_9` | `action_9` |
| 10 | `right_x` | `observation_state_10` | `action_10` |
| 11 | `right_y` | `observation_state_11` | `action_11` |
| 12 | `right_z` | `observation_state_12` | `action_12` |
| 13 | `right_rot6d_0` | `observation_state_13` | `action_13` |
| 14 | `right_rot6d_1` | `observation_state_14` | `action_14` |
| 15 | `right_rot6d_2` | `observation_state_15` | `action_15` |
| 16 | `right_rot6d_3` | `observation_state_16` | `action_16` |
| 17 | `right_rot6d_4` | `observation_state_17` | `action_17` |
| 18 | `right_rot6d_5` | `observation_state_18` | `action_18` |
| 19 | `right_gripper` | `observation_state_19` | `action_19` |

## Conversion Notes

- The shared config-driven `lerobot` converter is used; the dataset-specific
  script is a thin local orchestration and validation entry point and is not part of the dataset upload; the conversion script is retained locally.
- The train split is merged into one table-model TsFile. Filter by
  `episode_index` and `task_index` to select an episode or task.
- Vector columns are flattened to scalar TsFile fields. Full source prefixes
  are preserved, with `.` replaced by `_`.
- The source `timestamp` column is dropped after Time synthesis because it is
  redundant with `Time / 1000` seconds.
- Source `index` is renamed to `sample_index`; `frame_index` is retained.
- All 155 source Parquet schemas are identical, both vector widths are exactly
  20, and no numeric row, episode, task, state dimension, or action dimension is dropped.
- FLOAT fields use GORILLA + LZ4; INT64 fields and Time use TS_2DIFF + LZ4.
  The config also requires RLE + LZ4 for BOOLEAN fields (none occur in this source).

## Videos

Videos are not duplicated in this converted repository. They remain under the
original source revision's `videos/chunk-000/` tree in three frame-aligned streams:

- [`observation.images.cam_front`](https://huggingface.co/datasets/axiboai/piper_stacking_ee/tree/7f79b7c26d815766cf0f6d041edde20e7033e573/videos/chunk-000/observation.images.cam_front): 155 MP4 files, 652,759,687 bytes
- [`observation.images.cam_left_wrist`](https://huggingface.co/datasets/axiboai/piper_stacking_ee/tree/7f79b7c26d815766cf0f6d041edde20e7033e573/videos/chunk-000/observation.images.cam_left_wrist): 155 MP4 files, 585,180,346 bytes
- [`observation.images.cam_right_wrist`](https://huggingface.co/datasets/axiboai/piper_stacking_ee/tree/7f79b7c26d815766cf0f6d041edde20e7033e573/videos/chunk-000/observation.images.cam_right_wrist): 155 MP4 files, 459,890,635 bytes

Together, the source contains 465 MP4 files totaling 1,697,830,668 bytes
(about 1.58 GiB). Each stream contains one
`episode_XXXXXX.mp4` file per episode. Numeric rows remain aligned through
`episode_index`, `frame_index`, and the source episode metadata. The source
metadata describes 640x480 AV1 video at 30 fps without audio.

## Validation

The generated TsFile was opened and fully queried with the Apache TsFile Java
reader bundled with the conversion tools. Source, staged-Parquet, and TsFile
readback row counts all equal 60,656. The file contains one table, 155
episode/task devices, 2 TAG columns, and 42 FIELD columns.

The detailed `VALIDATION.md` and `validation_report.json` checks are retained locally and
are intentionally not included in the dataset upload.

## Usage

```python
from tsfile import TsFileReader

reader = TsFileReader("data/piper_stacking_ee_train.tsfile")
table_name = "piper_stacking_ee_train"
columns = [
    "episode_index",
    "task_index",
    "frame_index",
    "sample_index",
    "action_0",
    "observation_state_0",
]

with reader.query_table(table_name, columns, batch_size=65536) as result:
    batch = result.read_arrow_batch()
    print(batch.to_pandas().head())
```