| ---
|
| license: apache-2.0
|
| authors:
|
| - Hugging Face user sattgle
|
| task_categories:
|
| - robotics
|
| tags:
|
| - tsfile
|
| - timeseries
|
| - tabular
|
| modality:
|
| - timeseries
|
| - tabular
|
| pretty_name: Clean Test TsFile
|
| configs:
|
| - config_name: default
|
| data_files:
|
| - split: train
|
| path: data/sattgle_clean_test.tsfile
|
| size_categories:
|
| - 10K<n<100K
|
| ---
|
|
|
| # Clean Test TsFile
|
|
|
| This dataset is an Apache TsFile conversion of
|
| [`sattgle/clean-test`](https://huggingface.co/datasets/sattgle/clean-test), a LeRobot v2.1 SO101 follower
|
| robot-manipulation dataset for the clean task.
|
| It contains numeric trajectories, timing, and episode/task tags. Videos remain
|
| in the original Hugging Face repository.
|
|
|
| ## Source Dataset and Attribution
|
|
|
| - Original dataset: [`sattgle/clean-test`](https://huggingface.co/datasets/sattgle/clean-test)
|
| - Repository owner, uploader, and sole contributor:
|
| [Hugging Face user sattgle (`sattgle`)](https://huggingface.co/sattgle)
|
| - License: Apache-2.0
|
| - Task: "clean"
|
| - Robot: `so101_follower`; LeRobot version: `v2.1`
|
| - Split: `train`; sampling rate: 30 fps
|
| - Scale: 50 episodes, 32,220 frames, 1 task
|
| - Source shards: 50 Parquet files totaling 1,680,276 bytes
|
| - Source frame layout:
|
| `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| - Paper, external homepage, and completed citation: not provided by the source card.
|
|
|
| The source metadata, all 50 Parquet shards, and episode metadata consistently describe this 50-episode dataset. |
|
|
| ## TsFile Dataset
|
|
|
| - TsFile: `data/sattgle_clean_test.tsfile` (718,233 bytes)
|
| - Table: `sattgle_clean_test`
|
| - Rows: 32,220; episodes/devices: 50; tasks: 1
|
| - Time precision: milliseconds
|
| - TsFile/source-Parquet size ratio: 0.427
|
| - `meta/` is preserved from the source, with only `meta/info.json` rewritten to
|
| describe the TsFile schema and source-video alignment.
|
|
|
| ## Schema and Mapping
|
|
|
| `Time = round(timestamp * 1000)` milliseconds. Time starts at zero and is
|
| strictly increasing inside every episode. The source `timestamp` is dropped
|
| afterward because it is represented by `Time / 1000` seconds at the selected
|
| precision.
|
|
|
| | TsFile column | Role | Type | Source mapping |
|
| |---|---|---|---|
|
| | `Time` | TIME | TIMESTAMP | `round(timestamp * 1000)` ms |
|
| | `episode_index` | TAG | STRING | Original INT64 episode index |
|
| | `task_index` | TAG | STRING | Original INT64 task index |
|
| | `frame_index` | FIELD | INT64 | Preserved |
|
| | `sample_index` | FIELD | INT64 | Renamed from `index` |
|
| | `action_0` ... `action_5` | FIELD | FLOAT | Flattened from `action[6]` |
|
| | `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened from `observation.state[6]` |
|
|
|
| The six vector dimensions are `shoulder_pan.pos`, `shoulder_lift.pos`,
|
| `elbow_flex.pos`, `wrist_flex.pos`, `wrist_roll.pos`, and `gripper.pos`.
|
| Dots in source names are replaced by underscores. No numeric row, episode,
|
| task, state dimension, or action dimension is dropped.
|
|
|
| ## Encodings and Compression
|
|
|
| - FLOAT/DOUBLE: GORILLA + LZ4
|
| - INT32/INT64: TS_2DIFF + LZ4
|
| - Time: TS_2DIFF + LZ4
|
| - BOOLEAN: RLE + LZ4 (the source contains no BOOLEAN field)
|
| - TAG: TsFile table/device TAG storage
|
|
|
| The physical table schema, every field codec, TAG roles, and all 32,220 rows
|
| were read back with the Apache TsFile Java API.
|
|
|
| ## Videos
|
|
|
| Videos are not included in this TsFile repository. The source contains
|
| 100 frame-aligned AV1 MP4 files (597,891,922 bytes), 640x360 at 30 fps with
|
| no audio, in two streams with 50 episode files each:
|
|
|
| - [`observation.images.front`](https://huggingface.co/datasets/sattgle/clean-test/tree/main/videos/chunk-000/observation.images.front)
|
| - [`observation.images.rear`](https://huggingface.co/datasets/sattgle/clean-test/tree/main/videos/chunk-000/observation.images.rear)
|
|
|
| The source layout is
|
| `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
|
| Use `episode_index`, `frame_index`, and `meta/episodes.jsonl` to align numeric
|
| rows with the original video frames.
|
|
|
| ## Quality Checks
|
|
|
| Source Parquet, staged Parquet, and complete Java TsFile readback all contain
|
| 32,220 rows. Scalar values, all flattened vector values, TAGs, episode indexes,
|
| Time mapping and monotonicity, physical codecs, size, and SHA-256 were checked
|
| locally. Conversion scripts and local quality-check reports are intentionally excluded
|
| from this upload-ready directory.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
|
| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/sattgle_clean_test.tsfile")
|
| with reader.query_table(
|
| "sattgle_clean_test",
|
| ["episode_index", "task_index", "frame_index", "sample_index",
|
| "action_0", "observation_state_0"],
|
| batch_size=65536,
|
| ) as result:
|
| batch = result.read_arrow_batch()
|
| print(batch.to_pandas().head())
|
| reader.close()
|
| ```
|
|
|
| ## Citation
|
|
|
| The source card provides no personal name, paper, external homepage, or completed citation. Cite the original
|
| Hugging Face dataset and Hugging Face user sattgle (`sattgle`) when using this conversion.
|
|
|
