Add TsFile (converted from DorayakiLin/yzw_so100_stack_cube_v4)

README.md

@@ -3,57 +3,88 @@ license: apache-2.0
 task_categories:
 - robotics
 tags:
+- LeRobot
+- so100
+- stack_cube
+- v4
 - tsfile
+- timeseries
 - time-series
 - robotics
 - modality:timeseries
-- library:datasets
-- library:pandas
-- library:polars
-modality:
-- timeseries
-pretty_name: YZW SO100 Stack Cube V4 (TsFile)
 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)
 
-Apache TsFile version of [`DorayakiLin/yzw_so100_stack_cube_v4`](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4). Modalities: Time-series.
+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.”
 
-## Overview
+- **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.
 
-This LeRobot SO100 dataset contains demonstrations for picking up the red cube and stacking it on the green cube.
+> **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
 
-- 200 episodes, 95,833 frames, one task, sampled at 30 fps.
-- The `train` split contains 95,833 TsFile rows in `data/yzw_so100_stack_cube_v4_train.tsfile`.
+| 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 details
+## Conversion
 
-`Time` is `round(timestamp * 1000)` in milliseconds. The source `timestamp` column is therefore not stored as a separate FIELD; `frame_index` is retained and source `index` is named `sample_index`. Camera videos are not included in this time-series repository and remain in the [original dataset](https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4/tree/main/videos).
+- 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.
 
-## Schema (TsFile structure)
+## Video policy
 
-- `Time` (INT64, milliseconds) is the per-episode sample time.
-- `episode_index` and `task_index` are TAG columns identifying the device series.
-- `frame_index` and `sample_index` are INT64 FIELD columns.
-- `action_0` through `_5` and `observation_state_0` through `_5` are FLOAT FIELD columns for the SO100 joints.
+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).
 
-For example, select one device with `WHERE episode_index='0' AND task_index='0'`.
+## Minimal read example
 
-## Usage
+```python
+from tsfile import TsFileReader
 
-Read `data/yzw_so100_stack_cube_v4_train.tsfile` with the Apache TsFile Java or Python SDK.
+reader = TsFileReader("data/yzw_so100_stack_cube_v4_train.tsfile")
+print(reader.get_all_table_schemas().keys())
+reader.close()
+```
 
-## Source & license
+## Source and provenance
 
-- Original dataset: https://huggingface.co/datasets/DorayakiLin/yzw_so100_stack_cube_v4
-- Author / publisher: DorayakiLin
-- License: Apache-2.0
+- 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`