Two Pipes TsFile
This is an Apache TsFile conversion of pyrrosk/two_pipes, a LeRobot v3.0 ALOHA dataset containing bilateral robot state/action time series.
Source and attribution
- Original creator/uploader: Pyrros Koussios (pyrrosk)
- Pinned revision: a7554820e1bba23648f2e067d812fbbece26612e
- License: Apache-2.0
- Train split: 103 episodes, 248,065 rows, 2 tasks, 50 fps, 1 Parquet shard
- Task 0: insert the red pipe into the fitting (85,561 rows)
- Task 1: insert the blue pipe into the fitting (162,504 rows)
- The source card provides no paper or completed BibTeX citation.
Source videos remain at pyrrosk/two_pipes/videos: observation.images.top (53 MP4s), observation.images.left_wrist (45), and observation.images.right_wrist (39), for 137 files / 23.89 GB total. Videos are not included here. Align them with episode_index, frame_index, and the per-stream from_timestamp/to_timestamp offsets in meta/episodes.
Converted artifact
- Files: data/pyrrosk_two_pipes_part_00.tsfile through data/pyrrosk_two_pipes_part_15.tsfile
- Sharding: 16 episode-boundary TsFiles; no episode crosses a file boundary
- Combined TsFile size: 14.40 MiB
- Table: pyrrosk_two_pipes
- Rows: 248,065; episode IDs: 103; TAG devices: 206
- Time: round(timestamp * 1000) milliseconds, restarting per episode
- Size ratio versus source Parquet: 0.502
Schema
| Role | Columns |
|---|---|
| TIME | Time |
| TAG/device | episode_index, task_index |
| FIELD | frame_index, sample_index (renamed from index) |
| FIELD | observation_state_0 through observation_state_13 |
| FIELD | action_0 through action_13 |
The source timestamp column is dropped after Time synthesis because it equals Time / 1000 seconds. The 14-element FLOAT32 vectors are flattened row-major, preserving their full prefixes with dots changed to underscores. No row or numeric vector element is dropped.
Physical encoding
- FLOAT/DOUBLE: GORILLA + ZSTD
- INT32/INT64: TS_2DIFF + ZSTD
- Time: TS_2DIFF + LZ4
- BOOLEAN, if present in a later revision: RLE + LZ4
- TAGs: TsFile table device/TAG mechanism
meta/ is preserved and meta/info.json documents the conversion. Video features and openpi_assets remain at the source. Conversion scripts and validation reports are local only and are not part of this upload-ready directory.
Read example
from tsfile import TsFileReader
reader = TsFileReader("data/pyrrosk_two_pipes_part_00.tsfile")
schema = reader.get_all_table_schemas()["pyrrosk_two_pipes"]
columns = [c.get_column_name() for c in schema.get_columns()
if c.get_column_name() != "Time"]
with reader.query_table("pyrrosk_two_pipes", columns, batch_size=65536) as result:
batch = result.read_arrow_batch()
Citation
Cite the original dataset and Pyrros Koussios (pyrrosk). The source card does not include a paper or BibTeX entry.
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