Add TsFile (converted from unitreerobotics/G1_Dex3_BlockStacking_Dataset)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/unitreerobotics_g1_dex3_blockstacking.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,130 @@
+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - tsfile
+  - timeseries
+  - tabular
+modality:
+  - timeseries
+  - tabular
+pretty_name: G1 Dex3 Block Stacking TsFile
+size_categories:
+  - 100K<n<1M
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: data/unitreerobotics_g1_dex3_blockstacking.tsfile
+---
+
+# G1 Dex3 Block Stacking TsFile
+
+This repository is an Apache TsFile conversion of
+[`unitreerobotics/G1_Dex3_BlockStacking_Dataset`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset),
+a LeRobot manipulation dataset for stacking three cubic blocks on a desktop in
+red, yellow, and blue order.
+
+## Source dataset
+
+- Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset
+- Author / repository owner: Unitree Robotics (`unitreerobotics`)
+- Source-tree contributors shown by Hugging Face: `Henry-Ellis`, `lv-1`
+- License: Apache-2.0
+- Robot: Unitree G1, 7-DOF dual-arm, with three-finger Dex3 hands
+- Recording frequency: 30 Hz
+- Cameras: two head-mounted streams (`cam_left_high`, `cam_right_high`) and two wrist-mounted streams (`cam_left_wrist`, `cam_right_wrist`)
+- Resolution: 640x480 RGB; source video codec is AV1
+- Split: `train` (`0:301` episodes)
+- Episodes / rows / tasks: 301 / 281,196 / 1
+- Source data shards: 1 chunk / 1 Parquet file; source card reports 1,204 video files
+- Source frame file: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
+
+The task description in the original card is to stack three 5 cm cubic blocks on
+black tape on the desktop from bottom to top in red, yellow, and blue order.
+
+## Converted files
+
+- TsFile: `data/unitreerobotics_g1_dex3_blockstacking.tsfile`
+- Table: `unitreerobotics_g1_dex3_blockstacking`
+- Rows: 281,196
+- Episodes: 301
+- Episode files: 1 merged table-model TsFile
+- Time precision: milliseconds
+- Source metadata: `meta/tasks.parquet`, `meta/episodes/...`, and `meta/stats.json` are retained; `meta/info.json` documents the conversion.
+
+## Schema
+
+| Role | Columns |
+| --- | --- |
+| TIME | `Time` (`INT64` timestamp, milliseconds) |
+| TAG / device metadata | `episode_index`, `task_index` (original source names) |
+| FIELD | `frame_index`, `sample_index` (renamed from source `index`) |
+| FIELD FLOAT | `observation_state_0` ... `observation_state_27` |
+| FIELD FLOAT | `action_0` ... `action_27` |
+
+`Time = round(timestamp * 1000)`. The source timestamp is in seconds and
+restarts at zero for each episode, so `Time` is monotonic within each
+(`episode_index`, `task_index`) device. The source `timestamp` column is dropped
+after synthesis because it is redundant with `Time / 1000`.
+
+Vector columns are flattened row-major while preserving source prefixes:
+
+- `observation.state[28]` -> `observation_state_0` ... `observation_state_27`
+- `action[28]` -> `action_0` ... `action_27`
+
+The source `index` is renamed to `sample_index`; `frame_index`,
+`episode_index`, and `task_index` are preserved. No numeric state/action rows
+are dropped. Image/video feature columns are not written into TsFile because
+the local source Parquet contains numeric references only.
+
+## Encoding and compression
+
+The compact TsFile profile is used to avoid producing a file larger than the
+source Parquet:
+
+- FLOAT/DOUBLE: `GORILLA` + `LZ4`
+- INT32/INT64: `TS_2DIFF` + `LZ4`
+- Time: `TS_2DIFF` + `LZ4`
+- BOOLEAN: `RLE` + `LZ4` (no BOOLEAN fields are present in this dataset)
+- TAG columns: TsFile table/device TAG mechanism
+
+The staged Parquet and local validation report are kept outside the upload set
+under `.conversion_work/`.
+
+## Videos and attribution
+
+Videos are not included in this TsFile repository. They remain in the original
+Hugging Face dataset at:
+
+- [`videos/observation.images.cam_left_high`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_left_high)
+- [`videos/observation.images.cam_left_wrist`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_left_wrist)
+- [`videos/observation.images.cam_right_high`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_right_high)
+- [`videos/observation.images.cam_right_wrist`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_right_wrist)
+
+The source metadata video pattern is
+`videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`.
+`episode_index` and `frame_index` remain unchanged in the TsFile so consumers
+can align a time-series row with its original video frame.
+
+## Read example
+
+```python
+import sys
+sys.path.insert(0, r"D:\\code\\.deps")
+from tsfile import TsFileReader
+
+path = r"D:\\code\\py\\unitreerobotics_G1_Dex3_BlockStacking_Dataset\\data\\unitreerobotics_g1_dex3_blockstacking.tsfile"
+reader = TsFileReader(path)
+table = reader.get_all_table_schemas()["unitreerobotics_g1_dex3_blockstacking"]
+columns = [c.get_column_name() for c in table.get_columns() if c.get_column_name() != "Time"]
+with reader.query_table("unitreerobotics_g1_dex3_blockstacking", columns, batch_size=65536) as result:
+    batch = result.read_arrow_batch()
+```
+
+## Citation
+
+Please cite the original Unitree Robotics dataset repository and the LeRobot
+project when using this conversion. No separate paper or BibTeX entry was
+provided in the source dataset card.

data/unitreerobotics_g1_dex3_blockstacking.tsfile

@@ -0,0 +1,3 @@
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+oid sha256:ea82ce1b96f848a9e6c54fe97aac439c1c8b7a4d6b679def2243c21abc035fa4
+size 51445810

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:127bf236532cde778b197774f94e1869de6e5db7ab08aa7296baad737e1ba658
+size 678425

meta/info.json

@@ -0,0 +1,638 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "Unitree_G1",
+  "total_episodes": 301,
+  "total_frames": 281196,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 30.0,
+  "splits": {
+    "train": "0:301"
+  },
+  "data_path": "data/unitreerobotics_g1_dex3_blockstacking.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "sample_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "index"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
+    "observation_state_4": {
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+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
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+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
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+      "tsfile_role": "FIELD",
+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "source": "observation.state"
+    },
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
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+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
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+      ],
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+      "source": "action"
+    },
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+      "shape": [
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+      "source": "action"
+    },
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+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "shape": [
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+      "source": "action"
+    },
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+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "shape": [
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+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
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+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
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+      "source": "action"
+    },
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+      "dtype": "float32",
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+      "source": "action"
+    },
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+      "source": "action"
+    },
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+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD",
+      "source": "action"
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+      "shape": [
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+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
+    "action_24": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
+    "action_25": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
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+      "dtype": "float32",
+      "shape": [
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+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    },
+    "action_27": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD",
+      "source": "action"
+    }
+  },
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 500,
+  "video_path_original": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "unitreerobotics/G1_Dex3_BlockStacking_Dataset",
+    "source_data_path": "data/unitreerobotics_g1_dex3_blockstacking.tsfile",
+    "converted_data_path": "data/unitreerobotics_g1_dex3_blockstacking.tsfile",
+    "table_name": "unitreerobotics_g1_dex3_blockstacking",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds",
+      "formula": "Time = round(timestamp * 1000); timestamp resets per episode"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 281196,
+    "episode_file_count": 1,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "observation.state": "observation_state_0..observation_state_27",
+      "action": "action_0..action_27"
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.cam_left_high",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_high",
+      "observation.images.cam_right_wrist"
+    ],
+    "original_video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "original_video_features": {
+      "observation.images.cam_left_high": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_left_wrist": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_high": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_wrist": {
+        "dtype": "video",
+        "shape": [
+          3,
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