| ---
|
| license: apache-2.0
|
| authors:
|
| - Brett Peters
|
| task_categories:
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| - robotics
|
| tags:
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| - tsfile
|
| - timeseries
|
| - tabular
|
| modality:
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| - timeseries
|
| - tabular
|
| pretty_name: BAP13 SO101 Test 3 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/bap13_so101_test_3_train.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # BAP13 SO101 Test 3 TsFile
|
|
|
| This is an Apache TsFile conversion of
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| [bap13/so101_test_3](https://huggingface.co/datasets/bap13/so101_test_3), a LeRobot v2.1 SO101
|
| robot-manipulation dataset. The task is: Grasp a blue block and put it in
|
| the bowl.
|
|
|
| ## Source Dataset and Provenance
|
|
|
| - Original dataset: [bap13/so101_test_3](https://huggingface.co/datasets/bap13/so101_test_3)
|
| - Original repository owner and uploader: [Brett Peters (bap13)](https://huggingface.co/bap13)
|
| - License: Apache-2.0
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| - Robot type: so101
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| - LeRobot codebase version: v2.1
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| - Split: train
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| - Sampling rate: 30 fps
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| - Scale: 53 episodes, 30,617 frame rows, 1 task, 53 source Parquet files, and 106 source videos
|
| - 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
|
|
|
| The source README contains an obsolete 3-episode example. The pinned repository
|
| files, meta/info.json, meta/episodes.jsonl, and all 53 Parquet shards agree on
|
| the current 53-episode, 30,617-row dataset.
|
|
|
| ## Schema
|
|
|
| | Column | TsFile type | Role | Encoding | Compression |
|
| |---|---|---|---|---|
|
| | Time | TIMESTAMP | TIME | TS_2DIFF | LZ4 |
|
| | episode_index | STRING | TAG | Device/tag storage | Device/tag storage |
|
| | task_index | STRING | TAG | Device/tag storage | Device/tag storage |
|
| | frame_index | INT64 | FIELD | TS_2DIFF | LZ4 |
|
| | sample_index | INT64 | FIELD | TS_2DIFF | LZ4 |
|
| | action_0 through action_5 | FLOAT | FIELD | GORILLA | LZ4 |
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| | observation_state_0 through observation_state_5 | FLOAT | FIELD | GORILLA | LZ4 |
|
|
|
| The source index column is renamed to sample_index. frame_index is retained.
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| episode_index and task_index are stored as TsFile table-model TAG/device columns.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this TsFile dataset. They remain at the pinned
|
| source revision in two frame-aligned streams:
|
|
|
| - [observation.images.context](https://huggingface.co/datasets/bap13/so101_test_3/tree/a904f6e6558b910eee1cac6b75e6c0bf0bb7d0f1/videos/chunk-000/observation.images.context): 53 per-episode MP4 files, 202,287,802 bytes
|
| - [observation.images.wrist](https://huggingface.co/datasets/bap13/so101_test_3/tree/a904f6e6558b910eee1cac6b75e6c0bf0bb7d0f1/videos/chunk-000/observation.images.wrist): 53 per-episode MP4 files, 312,978,469 bytes
|
|
|
| Together the 106 AV1 videos occupy 515,266,271 bytes (about 491.40
|
| MiB). Both streams are 640 by 480 at 30 fps without audio. Numeric rows align
|
| with the source videos through episode_index and frame_index.
|
|
|
| ## Minimal Read Example
|
|
|
| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/bap13_so101_test_3_train.tsfile")
|
| table_name = "bap13_so101_test_3_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())
|
| reader.close()
|
|
|
| ## Citation
|
|
|
| The source card provides no paper or completed citation. Cite the original
|
| Hugging Face dataset and Brett Peters (bap13) when using this converted
|
| artifact.
|
|
|
