| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so100 |
| - stack_cube |
| - v4 |
| - tsfile |
| - timeseries |
| - time-series |
| - robotics |
| - modality:timeseries |
| size_categories: |
| - 10K<n<100K |
| modality: [timeseries] |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/yzw_so100_stack_cube_v4_train.tsfile |
| --- |
| # YZW SO100 Stack Cube V4 (TsFile) |
|
|
| Converted from [`DorayakiLin/yzw_so100_stack_cube_v4`](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4) at pinned revision [`da7c2ecf66ab30bff1ee455a83efc83b37a7781c`](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4/tree/da7c2ecf66ab30bff1ee455a83efc83b37a7781c). **Modalities: Time-series.** |
|
|
| ## Dataset description |
|
|
| This LeRobot v2.1 SO100 dataset records demonstrations of picking up a red cube and stacking it on a green cube. |
|
|
| The pinned task instruction is: “Pick up the red cube and stack it on the green cube.” |
|
|
| - **Source repository owner/publisher:** DorayakiLin |
| - **License:** apache-2.0 (declared by the source card). |
| - **Paper/homepage/citation:** no completed paper, homepage, or citation is documented in the pinned source card unless linked above. |
|
|
| > **Source metadata note:** The source README embeds an older 20-episode/9,692-frame snapshot. Counts here use the pinned `meta/info.json`, 200 source episode Parquets, staged rows, and TsFile metadata. |
|
|
| ## Dataset Scale |
|
|
| | Split | Episodes | Tasks | Source trajectory Parquets | TsFile rows | Sampling rate | TsFile files/shards | |
| |---|---:|---:|---:|---:|---:|---:| |
| | `train` | 200 | 1 | 200 | 95,833 | 30 Hz | 1 | |
|
|
| The staged Parquet has 95,833 rows and 17 columns including `Time`; TsFile chunk metadata independently reports the same 95,833 rows. |
|
|
| ## TsFile schema |
|
|
| | Column | Role | TsFile type | Observed/source range | |
| |---|---|---|---| |
| | `Time` | TIME | INT64 | 0–20,333 ms; restarts per episode | |
| | `episode_index` | TAG | STRING | source integer 0–199 | |
| | `task_index` | TAG | STRING | source integer 0–0 | |
| | `frame_index` | FIELD | INT64 | 0–610 within an episode | |
| | `sample_index` | FIELD | INT64 | 0–95,832 globally | |
|
|
| Exact remaining FIELD names/ranges and imported types: |
|
|
| - `action_0`–`action_5` (FLOAT): main shoulder pan/lift, elbow flex, wrist flex/roll, and gripper action |
| - `observation_state_0`–`observation_state_5` (FLOAT): the corresponding SO100 state |
|
|
| ## Conversion |
|
|
| - All source episodes in the train split are merged into `data/yzw_so100_stack_cube_v4_train.tsfile`; `episode_index` and `task_index` are TAG dimensions. |
| - `Time = round(timestamp * 1000)` in milliseconds. The source `timestamp` column is omitted because it is redundant with `Time / 1000` seconds. |
| - `frame_index` is retained. Source `index` is retained as `sample_index`. |
| - Every vector is fully flattened: the complete source name is kept, `.` becomes `_`, and element indices are appended. Float vectors are imported as single-precision FLOAT fields. |
| - Other scalar source columns shown above are retained; no trajectory rows are intentionally dropped. |
| - Source metadata is mirrored for publication, with copied `meta/info.json` rewritten to describe the converted data path and conversion semantics. |
|
|
| ## Video policy |
|
|
| The pinned metadata declares 600 source videos across wrist, top, and third camera streams. MP4 files were not downloaded or uploaded; they remain in [the pinned source `videos/` tree](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4/tree/da7c2ecf66ab30bff1ee455a83efc83b37a7781c/videos). |
|
|
| ## Minimal read example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| reader = TsFileReader("data/yzw_so100_stack_cube_v4_train.tsfile") |
| print(reader.get_all_table_schemas().keys()) |
| reader.close() |
| ``` |
|
|
| ## Source and provenance |
|
|
| - Source dataset: [`DorayakiLin/yzw_so100_stack_cube_v4`](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4) |
| - Pinned source revision: [`da7c2ecf66ab30bff1ee455a83efc83b37a7781c`](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4/tree/da7c2ecf66ab30bff1ee455a83efc83b37a7781c) |
| - Converted artifact: `data/yzw_so100_stack_cube_v4_train.tsfile` |
|
|
