| ---
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| license: apache-2.0
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| authors:
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| - grboguz
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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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| - sentinel_v2
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| - manipulation
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| - tutorial
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: grboguz test_lfs 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/grboguz_test_lfs_train.tsfile
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| size_categories:
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| - 10K<n<100K
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| ---
|
|
|
| # grboguz/test_lfs TsFile
|
|
|
| This dataset is an Apache TsFile conversion of
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| [`grboguz/test_lfs`](https://huggingface.co/datasets/grboguz/test_lfs), a LeRobot v2.1 sentinel_v2 robot-manipulation dataset
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| containing demonstrations for the task "pick the green cube."
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|
|
| Modalities: Time-series, Tabular. The converted repository contains numeric
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| robot states, actions, frame timing, and episode/task tags. The two camera
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| streams remain in the original Hugging Face dataset and are linked below.
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|
|
| ## Source Dataset and Provenance
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|
|
| - Original dataset: [`grboguz/test_lfs`](https://huggingface.co/datasets/grboguz/test_lfs)
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| - Pinned source revision: [`main`](https://huggingface.co/datasets/grboguz/test_lfs/tree/main)
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| - Original repository creator and uploader: [grboguz](https://huggingface.co/grboguz)
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| - License: Apache-2.0
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| - Robot type: `sentinel_v2`
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| - LeRobot codebase version: `v2.1`
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| - Task: `pick the green cube` (`task_index = 0`)
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| - Split: `train`
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| - Sampling rate: 15 fps
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| - Scale: 210 episodes, 72,677 frame rows, 1 task, 210 source Parquet files, 420 source videos
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| - Source frame layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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| - Source video layout: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
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|
|
| The source dataset card provides no paper or completed citation. The Hugging
|
| Face repository history attributes the source upload to the `grboguz` account.
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|
|
| ## Converted Files
|
|
|
| - TsFile: `data/grboguz_test_lfs_train.tsfile`
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| - Table: `grboguz_test_lfs_train`
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| - Rows: 72,677
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| - Episodes/devices: 210
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| - TsFile size: 1.36 MiB
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| - Time precision: milliseconds
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| - Metadata: `meta/` is mirrored from the source, with `meta/info.json` rewritten to describe the TsFile artifact and conversion mapping.
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|
|
| ## TsFile Schema
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|
|
| `Time` is an INT64 millisecond timestamp computed as
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| `round(timestamp * 1000)` and restarts for each episode.
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|
|
| TAG columns (stored as TsFile STRING tags while preserving the original source
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| dtype in conversion metadata):
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|
|
| - `episode_index`
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| - `task_index`
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|
|
| FIELD columns:
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|
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| - `frame_index`
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| - `sample_index`
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| - `observation_state_0`
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| - `observation_state_1`
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| - `observation_state_2`
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| - `action_0`
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| - `action_1`
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| - `action_2`
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| - `action_3`
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|
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| Flattened vector groups:
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|
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| - `observation.state` -> `observation_state_0` ... `observation_state_2` (3 FLOAT fields)
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| - `action` -> `action_0` ... `action_3` (4 FLOAT fields)
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|
|
| ## Conversion Notes
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|
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| - The shared config-driven `lerobot` converter is used; the included
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| `convert_grboguz_test_lfs.py` is the dataset-specific local entry point.
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| - The train split is merged into one table-model TsFile. Filter by
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| `episode_index` and `task_index` to select an episode or task.
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| - Storage profile: Time uses `TS_2DIFF + LZ4`; FLOAT/DOUBLE use
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| `GORILLA + LZ4`; INT32/INT64 use `TS_2DIFF + LZ4`; BOOLEAN uses
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| `RLE + LZ4`. The `episode_index` and `task_index` columns remain TsFile
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| table-model TAG/device columns.
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| - `action[4]` and `observation.state[3]` are flattened to scalar FLOAT fields;
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| the full source prefix is retained and `.` is replaced with `_`.
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| - The source `timestamp` column is dropped after `Time` synthesis because it is
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| redundant with `Time / 1000` seconds.
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| - The source `index` column is retained as `sample_index`; `frame_index` is
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| retained unchanged.
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| - All 72,677 source rows and all 7 action/state dimensions are retained.
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|
|
| ## Videos
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|
|
| Videos are not duplicated in this converted repository. The source contains
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| two frame-aligned camera streams, each with 210 per-episode MP4 files:
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|
|
| - [`observation.image`](https://huggingface.co/datasets/grboguz/test_lfs/tree/main/videos/chunk-000/observation.image) - 210 per-episode MP4 files
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| - [`observation.wrist_image`](https://huggingface.co/datasets/grboguz/test_lfs/tree/main/videos/chunk-000/observation.wrist_image) - 210 per-episode MP4 files
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|
|
| The numeric TsFile rows remain aligned with the original videos through
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| `episode_index`, `frame_index`, and the source per-episode metadata.
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|
|
| ## Validation
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|
|
| The generated TsFile is checked for successful tool completion, non-zero size,
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| table schema, metadata row-count equality with the staged Parquet, and a query
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| readback sample. See `VALIDATION.md` and `validation_report.json`.
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|
|
| ## Minimal Read Example
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|
|
| ```python
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| from tsfile import TsFileReader
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|
|
| reader = TsFileReader("data/grboguz_test_lfs_train.tsfile")
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| table_name = "grboguz_test_lfs_train"
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| columns = [
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| "episode_index",
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| "task_index",
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| "frame_index",
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| "sample_index",
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| "action_0",
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| "observation_state_0",
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| ]
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|
|
| with reader.query_table(table_name, columns, batch_size=65536) as result:
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| batch = result.read_arrow_batch()
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| print(batch.to_pandas().head())
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| reader.close()
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| ```
|
|
|
| ## Citation
|
|
|
| The source dataset card provides no paper or completed citation. Cite the
|
| original Hugging Face dataset and the `grboguz` account when using this
|
| converted artifact.
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|
|
