Datasets:

azithromycin
/

leolin6_zbot_pick_cube35

license: apache-2.0
authors:
  - Leo Lin
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - tabular
modality:
  - timeseries
  - tabular
pretty_name: ZBot Pick Cube35 TsFile
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/leolin6_zbot_pick_cube35_train.tsfile
size_categories:
  - 10K<n<100K

ZBot Pick Cube35 TsFile

This is an Apache TsFile conversion of leolin6/zbot_pick_cube35, a LeRobot v2.1 ZBot Inspire teleoperation dataset.

Source Dataset and Author

Original dataset: leolin6/zbot_pick_cube35
Pinned revision: 7e9b39936d42ac1bba9201f960a02e6651325df9
Creator and uploader: Leo Lin (leolin6)
License: Apache-2.0
Task: ZBot teleoperation recording for cube-picking demonstrations
Robot: zbot_inspire; LeRobot: v2.1
Split and rate: train episodes 0:35 at 30 fps
Scale: 35 episodes, 20,644 rows, 1 task, 35 Parquet shards
Source data layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
Paper, homepage, and completed citation: not provided by the source card

Converted File

TsFile: data/leolin6_zbot_pick_cube35_train.tsfile
Table: leolin6_zbot_pick_cube35_train
Rows/devices: 20,644 / 35
Time precision: milliseconds
Size: 1,811,413 bytes
Source meta is preserved; meta/info.json documents the conversion

Schema

Time is INT64 milliseconds computed as round(timestamp * 1000) and restarts within each episode.

Role	Columns	Meaning
TIME	Time	INT64 milliseconds
TAG	episode_index, task_index	TsFile table device dimensions
FIELD	frame_index, sample_index	INT64 indexes
FIELD	action_0 through action_15	16 flattened FLOAT actions
FIELD	observation_state_0 through observation_state_25	26 flattened FLOAT states

The table has 47 columns: 1 TIME, 2 TAG, and 44 FIELD columns.

Conversion

All 35 episode Parquet files are merged into one train TsFile.
Source episode_index and task_index are TsFile TAG columns.
action[16] and observation.state[26] are flattened; dots become underscores.
Source index becomes sample_index and frame_index is unchanged.
timestamp is dropped after Time synthesis because timestamp = Time / 1000.
No numeric rows, episodes, tasks, action values, or state values are dropped.

Encoding and Compression

Time: TS_2DIFF + LZ4
FLOAT/DOUBLE: GORILLA + ZSTD
INT32/INT64: TS_2DIFF + ZSTD
BOOLEAN: RLE + LZ4 (none are present)
TAG: TsFile table device/TAG storage

Validated TsFile/source-Parquet ratio: 0.8635.

Videos

Videos are not included. The original repository contains 35 frame-aligned MP4 files in videos/chunk-000/observation.images.front/, named episode_000000.mp4 through episode_000034.mp4. The source template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Alignment is preserved by episode_index, frame_index, and source episode metadata.

Validation

Apache TsFile Java 2.2.1 readback returned all 20,644 rows. TAG roles, monotonic Time, vector widths, encodings, compression, and row counts were checked locally. Scripts and reports are excluded from upload files.

Minimal Read Example

from tsfile import TsFileReader

reader = TsFileReader("data/leolin6_zbot_pick_cube35_train.tsfile")
table_name = "leolin6_zbot_pick_cube35_train"
with reader.query_table(
    table_name,
    ["episode_index", "task_index", "frame_index", "action_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())

Citation

The source card has no completed citation. Cite the original dataset and Leo Lin.