README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so100
  - tutorial
  - time-series
  - tsfile
  - robot
  - imitation-learning
  - timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/5position.tsfile

5position

This dataset is a TsFile conversion of DAbraham/5Position, a LeRobot SO100 robot dataset. The original dataset was created using LeRobot.

Source Dataset

• Source dataset: DAbraham/5Position
• License: apache-2.0
• Robot type: SO100
• Episodes: 50
• Frames: 43,346
• Tasks: 1
• Sampling rate: 30 fps
• Original data path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Original video path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

TsFile Conversion

The numeric frame data was converted to one TsFile:

data/5position.tsfile

All episodes are stored in the same TsFile table, with the original source columns episode_index and task_index declared as TAG columns. To query one episode, filter by episode_index.

Time is generated as round(timestamp * 1000) in milliseconds and restarts per episode. The source timestamp column is dropped because it is represented by Time / 1000 seconds. The source frame_index column is kept.

The source index column is renamed to sample_index.

Vector columns are flattened while preserving the source column name:

• action -> action_0 ... action_5
• observation.state -> observation_state_0 ... observation_state_5

Flattened vector values are stored as single-precision FLOAT fields.

Schema

Roles in the converted TsFile:

• TIME: Time
• TAG: episode_index, task_index
• FIELD: frame_index, sample_index, action_0 ... action_5, observation_state_0 ... observation_state_5

The converted dataset contains 43,346 rows and 17 columns.

Video Policy

The original dataset contains three video streams:

• observation.images.context
• observation.images.arm
• observation.images.base

Videos are not included in this converted repository. They remain available in the original Hugging Face dataset:

https://huggingface.co/datasets/DAbraham/5Position/tree/main/videos

Metadata

The original meta/ files are mirrored in this repository. meta/info.json is updated so data_path points to data/5position.tsfile, and it includes a tsfile_conversion object documenting the source dataset, converted data path, time mapping, TAG columns, flattened fields, dropped fields, omitted video features, and video alignment policy.

Citation

The original dataset card does not provide a BibTeX citation.