| ---
|
| license: mit
|
| authors:
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| - Chenxiao Gao
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| 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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| - robotics
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| - lerobot
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| - vifailback
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| - aloha
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| - piper
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| modality:
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| - timeseries
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| - tabular
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| pretty_name: VIFailBack (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/typoverflow_vifailback_train.tsfile
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| size_categories:
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| - 1M<n<10M
|
| ---
|
|
|
| # VIFailBack (TsFile)
|
|
|
| This dataset is an Apache TsFile conversion of
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| [`typoverflow/vifailback`](https://huggingface.co/datasets/typoverflow/vifailback), a LeRobot v3.0 ALOHA AgileX Piper robot dataset.
|
|
|
| **Modalities: Time-series, Tabular.** The converted repository contains numeric
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| robot state, target, timing, episode/task tags, debug signals, and mirrored
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| source metadata. Camera videos remain in the original Hugging Face dataset.
|
|
|
| ## Source Dataset and Author
|
|
|
| - Original dataset: [`typoverflow/vifailback`](https://huggingface.co/datasets/typoverflow/vifailback)
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| - Pinned source revision: [`9145e6c58471ec61d5a11d7a1bbb39d540fc5710`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710)
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| - Original author, repository owner, uploader, and commit author: [Chenxiao Gao (`typoverflow`)](https://huggingface.co/typoverflow)
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| - License: MIT
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| - Robot type: `aloha_agilex_piper`
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| - LeRobot codebase version: `v3.0`
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| - Sampling rate: 25 fps
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| - Split: `train`, episodes 0 through 4713
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| - Source scale: 4,714 episodes, 1,190,262 frames, 98 tasks
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| - Source frame shards: 8 Parquet files totaling 516,628,399 bytes
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| - Paper, homepage, and completed citation: not provided by the source card
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|
|
| The source card states that the dataset was created using
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| [LeRobot](https://github.com/huggingface/lerobot). Task text for all 98 task
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| indices is preserved in `meta/tasks.parquet`; the source card does not provide a
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| more detailed dataset narrative, so none is inferred here.
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|
|
| ## Converted Files
|
|
|
| - TsFile: `data/typoverflow_vifailback_train.tsfile`
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| - Table: `typoverflow_vifailback_train`
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| - Rows: 1,190,262
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| - Episode/task devices: 4,714
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| - Columns: 183 total — 1 TIME, 2 TAG, 180 FIELD
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| - TsFile size: 467,828,268 bytes (90.55% of the source frame-Parquet size)
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| - Time precision: milliseconds
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| - Metadata: `meta/` is mirrored from the pinned source, with only
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| `meta/info.json` rewritten to describe the TsFile artifact and conversion.
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| - Conversion config: `typoverflow_vifailback.yaml`
|
|
|
| The latest pinned source metadata includes `meta/critical_frames.jsonl` and
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| `meta/qc_warnings.jsonl`; both are preserved unchanged.
|
|
|
| ## TsFile Schema
|
|
|
| `Time` is an INT64 millisecond timestamp computed as
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| `round(timestamp * 1000)`. It restarts within each episode and spans
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| 0..36,960 ms across the dataset.
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|
|
| TAG columns (TsFile table-model device segments):
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|
|
| - `episode_index` — source episode number, 0 through 4713
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| - `task_index` — source task number, 0 through 97
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|
|
| Scalar FIELD columns:
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|
|
| - `frame_index` — frame number within an episode
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| - `sample_index` — source global `index`, renamed to avoid ambiguity
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|
|
| The remaining 178 FLOAT FIELD columns are flattened from the source's scalar
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| and vector signals while preserving their full source prefixes. Dots are
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| replaced by underscores and vector positions receive a numeric suffix. They
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| cover these source groups:
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|
|
| - `raw_state.*` and `raw_target.*`: joint position/velocity, end-effector XYZ
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| and quaternion, gripper state, and base velocity
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| - `state.*` and `target.*`: joint position/velocity, end-effector XYZ and 9D
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| rotation, gripper state, and base velocity
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| - `debug.*`: left/right gripper end-effector XYZ and 6D rotation
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|
|
| For example, `raw_state.left_joint_pos[6]` becomes
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| `raw_state_left_joint_pos_0` through `raw_state_left_joint_pos_5`. The complete
|
| machine-readable list and roles are recorded in `meta/info.json`.
|
|
|
| ## Encoding and Conversion Notes
|
|
|
| - FLOAT/DOUBLE FIELD: `GORILLA + ZSTD`
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| - INT32/INT64 FIELD: `TS_2DIFF + ZSTD`
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| - Time: `TS_2DIFF + LZ4`
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| - BOOLEAN FIELD policy: `RLE + LZ4`; this source schema contains no BOOLEAN field
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| - TAG: stored through the TsFile device/TAG mechanism, not duplicated as ordinary FIELD columns
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| - All eight source frame shards are merged into one train-split TsFile. Filter
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| by `episode_index` and `task_index` to select a trajectory or task.
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| - The source `timestamp` column is the only numeric source value not stored as a
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| separate FIELD. It is redundant after the exact millisecond mapping
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| (`timestamp = Time / 1000` seconds at 25 fps).
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| - The source `index` is retained as `sample_index`; `frame_index` is unchanged.
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| - No published rows, episodes, tasks, or numeric signal dimensions are dropped.
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|
|
| ## Videos
|
|
|
| Videos are not duplicated in the converted repository. The pinned source has
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| 145 frame-aligned MP4 files totaling 27,938,508,868
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| bytes (26.02 GiB) in three streams:
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|
|
| - [`videos/observation.images.cam_high/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_high) — 56 MP4 files, 11,040,155,298 bytes (10.28 GiB)
|
| - [`videos/observation.images.cam_left_wrist/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_left_wrist) — 45 MP4 files, 8,526,126,153 bytes (7.94 GiB)
|
| - [`videos/observation.images.cam_right_wrist/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_right_wrist) — 44 MP4 files, 8,372,227,417 bytes (7.80 GiB)
|
|
|
| The source template is
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| `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`.
|
| Numeric rows remain aligned with the original videos through `episode_index`,
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| `frame_index`, and the source episode metadata under `meta/episodes/`.
|
|
|
| ## Validation
|
|
|
| The generated TsFile passed Apache TsFile Java 2.2.1 schema inspection and a
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| full 1,190,262-row query readback. Validation confirmed:
|
|
|
| - source, staged, and TsFile row-count equality
|
| - exactly two TAG columns and 180 FIELD columns
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| - the requested physical encoding/compression profile
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| - TsFile size below the combined source frame-Parquet size
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| - SHA-256 `4580f9bfa834395dba4298be61761a3a5d97dd77d93f009e7c3eef0cbad493a8`
|
|
|
| The local JSON and Markdown validation reports are intentionally not included
|
| in this upload-ready dataset.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
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| from tsfile import TsFileReader
|
|
|
| reader = TsFileReader("data/typoverflow_vifailback_train.tsfile")
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| table_name = "typoverflow_vifailback_train"
|
| columns = ["episode_index", "task_index", "frame_index", "sample_index"]
|
|
|
| with reader.query_table(table_name, columns, batch_size=65536) as result:
|
| batch = result.read_arrow_batch()
|
| print(batch.to_pandas().head())
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| reader.close()
|
| ```
|
|
|
| ## Citation
|
|
|
| The source dataset card provides no paper or completed citation. Cite the
|
| original Hugging Face dataset and Chenxiao Gao (`typoverflow`) when using this
|
| converted artifact.
|
|
|
