| ---
|
| license: apache-2.0
|
| authors:
|
| - Joe Clinton
|
| task_categories:
|
| - robotics
|
| tags:
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| - tsfile
|
| - timeseries
|
| - tabular
|
| modality:
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| - timeseries
|
| - tabular
|
| pretty_name: Wedgit Stack Single Dual Cam TsFile
|
| configs:
|
| - config_name: default
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| data_files:
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| - split: train
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| path: data/jclinton1_wedgit_stack_single_dual_cam.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # Wedgit Stack Single Dual Cam TsFile
|
|
|
| This Apache TsFile dataset is derived from
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| [`jclinton1/wedgit_stack_single_dual_cam`](https://huggingface.co/datasets/jclinton1/wedgit_stack_single_dual_cam), a LeRobot v2.1
|
| `so100_with_koch` dataset for stacking a yellow Wedgit block on a blue block.
|
|
|
| ## Source dataset
|
|
|
| - Repository owner and uploader: [Joe Clinton (`jclinton1`)](https://huggingface.co/jclinton1)
|
| - License: Apache-2.0
|
| - Paper and formal citation: not provided by the source repository
|
| - Split: `train`; sampling frequency: 30 fps
|
| - Task 0: `Stack the yellow wedgit block on the blue one`
|
| - Scale: 101 episodes, 31,354 frame rows, one task, 101 Parquet shards
|
| - Source data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
|
|
| ## TsFile contents
|
|
|
| - File: `data/jclinton1_wedgit_stack_single_dual_cam.tsfile`
|
| - Table: `jclinton1_wedgit_stack_single_dual_cam`
|
| - Rows: 31,354; episode devices: 101
|
| - Time precision: milliseconds
|
| - Source Parquet size: 1,829,132 bytes
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| - TsFile size: 605,066 bytes
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| - TsFile/source size ratio: 0.330794
|
|
|
| The source `meta/` files are retained. `meta/info.json` points `data_path` to
|
| the TsFile and records the source video location and frame-alignment policy.
|
|
|
| ## Schema
|
|
|
| | Column or group | TsFile role | Type | Description |
|
| |---|---|---|---|
|
| | `Time` | TIME | INT64 | `round(timestamp * 1000)` ms; restarts at zero per episode |
|
| | `episode_index` | TAG | STRING | Original episode index stored through the device/TAG mechanism |
|
| | `task_index` | TAG | STRING | Original task index stored through the device/TAG mechanism |
|
| | `frame_index` | FIELD | INT64 | Original per-episode frame index |
|
| | `sample_index` | FIELD | INT64 | Renamed from source `index` |
|
| | `action_0` ... `action_5` | FIELD | FLOAT | Flattened source `action[6]` |
|
| | `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened source `observation.state[6]` |
|
|
|
| Vector prefixes preserve the source column names, with `.` replaced by `_`.
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| The source `timestamp` is removed after Time synthesis because it equals
|
| `Time / 1000` seconds. No frame rows, action/state elements, frame indexes,
|
| episode indexes, or task indexes are removed. Camera pixels are external video
|
| assets and were never fields in the source Parquet tables.
|
|
|
| ## Storage profile
|
|
|
| - Time: `TS_2DIFF + LZ4`
|
| - FLOAT/DOUBLE: `GORILLA + LZ4`
|
| - INT32/INT64: `TS_2DIFF + LZ4`
|
| - BOOLEAN: `RLE + LZ4` when present; this source has no BOOLEAN field
|
| - TAG values: TsFile table-model device/tag storage
|
|
|
| All episodes are merged into one table and sorted by `episode_index`,
|
| `task_index`, and `Time`.
|
|
|
| ## Source videos
|
|
|
| Videos are not included. The original repository stores 202 frame-aligned AV1
|
| MP4 files under [`videos/`](https://huggingface.co/datasets/jclinton1/wedgit_stack_single_dual_cam/tree/main/videos): 101 files for
|
| `observation.images.webcam` and 101 files for `observation.images.wrist`.
|
| The path template is
|
| `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
|
| The video files total 684,781,139 bytes, are 640x480 at 30 fps, and have no
|
| audio. Use `episode_index` and `frame_index` to align a row with both views.
|
|
|
| ## Data checks
|
|
|
| The generated TsFile was read in full with the Apache TsFile Java reader.
|
| Source, staged, and TsFile row counts all equal 31,354.
|
| Physical column codecs, TAG roles, vector widths, per-episode Time ordering,
|
| duplicate TAG+Time keys, and file-size reduction were also checked locally.
|
|
|
| ## Minimal read example
|
|
|
| ```python
|
| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/jclinton1_wedgit_stack_single_dual_cam.tsfile")
|
| columns = [
|
| "episode_index",
|
| "task_index",
|
| "frame_index",
|
| "sample_index",
|
| "action_0",
|
| "observation_state_0",
|
| ]
|
| with reader.query_table("jclinton1_wedgit_stack_single_dual_cam", columns, batch_size=65536) as result:
|
| batch = result.read_arrow_batch()
|
| print(batch.to_pandas().head())
|
| reader.close()
|
| ```
|
|
|
| When using this dataset, cite the original Hugging Face repository and Joe
|
| Clinton (`jclinton1`).
|
|
|
