| ---
|
| license: apache-2.0
|
| authors:
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| - Leo Lin
|
| 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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| modality:
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| - timeseries
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| - tabular
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| pretty_name: ZBot Pick Cube35 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/leolin6_zbot_pick_cube35_train.tsfile
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| size_categories:
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| - 10K<n<100K
|
| ---
|
|
|
| # ZBot Pick Cube35 TsFile
|
|
|
| This is an Apache TsFile conversion of [leolin6/zbot_pick_cube35](https://huggingface.co/datasets/leolin6/zbot_pick_cube35), a LeRobot v2.1
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| ZBot Inspire teleoperation dataset.
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|
|
| ## Source Dataset and Author
|
|
|
| - Original dataset: [leolin6/zbot_pick_cube35](https://huggingface.co/datasets/leolin6/zbot_pick_cube35)
|
| - Pinned revision: [7e9b39936d42ac1bba9201f960a02e6651325df9](https://huggingface.co/datasets/leolin6/zbot_pick_cube35/tree/7e9b39936d42ac1bba9201f960a02e6651325df9)
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| - Creator and uploader: [Leo Lin (leolin6)](https://huggingface.co/leolin6)
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| - License: Apache-2.0
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| - Task: ZBot teleoperation recording for cube-picking demonstrations
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| - Robot: zbot_inspire; LeRobot: v2.1
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| - Split and rate: train episodes 0:35 at 30 fps
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| - Scale: 35 episodes, 20,644 rows, 1 task, 35 Parquet shards
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| - Source data layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
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| - Paper, homepage, and completed citation: not provided by the source card
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|
|
| ## Converted File
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|
|
| - TsFile: data/leolin6_zbot_pick_cube35_train.tsfile
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| - Table: leolin6_zbot_pick_cube35_train
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| - Rows/devices: 20,644 / 35
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| - Time precision: milliseconds
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| - Size: 1,811,413 bytes
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| - Source meta is preserved; meta/info.json documents the conversion
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|
|
| ## Schema
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|
|
| Time is INT64 milliseconds computed as round(timestamp * 1000) and restarts
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| within each episode.
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|
|
| | Role | Columns | Meaning |
|
| |---|---|---|
|
| | TIME | Time | INT64 milliseconds |
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| | TAG | episode_index, task_index | TsFile table device dimensions |
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| | FIELD | frame_index, sample_index | INT64 indexes |
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| | FIELD | action_0 through action_15 | 16 flattened FLOAT actions |
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| | FIELD | observation_state_0 through observation_state_25 | 26 flattened FLOAT states |
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|
|
| The table has 47 columns: 1 TIME, 2 TAG, and 44 FIELD columns.
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|
|
| ## Conversion
|
|
|
| - All 35 episode Parquet files are merged into one train TsFile.
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| - Source episode_index and task_index are TsFile TAG columns.
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| - action[16] and observation.state[26] are flattened; dots become underscores.
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| - Source index becomes sample_index and frame_index is unchanged.
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| - timestamp is dropped after Time synthesis because timestamp = Time / 1000.
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| - No numeric rows, episodes, tasks, action values, or state values are dropped.
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|
|
| ## Encoding and Compression
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|
|
| - Time: TS_2DIFF + LZ4
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| - FLOAT/DOUBLE: GORILLA + ZSTD
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| - INT32/INT64: TS_2DIFF + ZSTD
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| - BOOLEAN: RLE + LZ4 (none are present)
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| - TAG: TsFile table device/TAG storage
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|
|
| Validated TsFile/source-Parquet ratio: 0.8635.
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|
|
| ## Videos
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|
|
| Videos are not included. The original repository contains 35 frame-aligned MP4
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| files in [videos/chunk-000/observation.images.front/](https://huggingface.co/datasets/leolin6/zbot_pick_cube35/tree/7e9b39936d42ac1bba9201f960a02e6651325df9/videos/chunk-000/observation.images.front), named
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| episode_000000.mp4 through episode_000034.mp4. The source template is
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| videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Alignment is preserved by
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| episode_index, frame_index, and source episode metadata.
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|
|
| ## Validation
|
|
|
| Apache TsFile Java 2.2.1 readback returned all 20,644 rows.
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| TAG roles, monotonic Time, vector widths, encodings, compression, and row counts
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| were checked locally. Scripts and reports are excluded from upload files.
|
|
|
| ## Minimal Read Example
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|
|
| from tsfile import TsFileReader
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|
|
| reader = TsFileReader("data/leolin6_zbot_pick_cube35_train.tsfile")
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| table_name = "leolin6_zbot_pick_cube35_train"
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| with reader.query_table(
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| table_name,
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| ["episode_index", "task_index", "frame_index", "action_0"],
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| batch_size=65536,
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| ) as result:
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| print(result.read_arrow_batch().to_pandas().head())
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|
|
| ## Citation
|
|
|
| The source card has no completed citation. Cite the original dataset and Leo Lin.
|
|
|
