| ---
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| license: apache-2.0
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| task_categories:
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| - robotics
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| tags:
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| - LeRobot
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| - so100
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| - tutorial
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| - time-series
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| - tsfile
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| - robot
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| - imitation-learning
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| - timeseries
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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/5position.tsfile
|
| ---
|
|
|
| # 5position
|
|
|
| This dataset is a TsFile conversion of
|
| [`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position), a
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| LeRobot SO100 robot dataset. The original dataset was created using
|
| [LeRobot](https://github.com/huggingface/lerobot).
|
|
|
| ## Source Dataset
|
|
|
| - Source dataset: [`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position)
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| - License: apache-2.0
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| - Robot type: SO100
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| - Episodes: 50
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| - Frames: 43,346
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| - Tasks: 1
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| - Sampling rate: 30 fps
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| - Original data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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| - 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:
|
|
|
| ```text
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| data/5position.tsfile
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| ```
|
|
|
| All episodes are stored in the same TsFile table, with the original source
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| 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
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| episode. The source `timestamp` column is dropped because it is represented by
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| `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`
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| - `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`
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| - TAG: `episode_index`, `task_index`
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| - FIELD: `frame_index`, `sample_index`, `action_0` ... `action_5`,
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| `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`
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| - `observation.images.arm`
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| - `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
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| `tsfile_conversion` object documenting the source dataset, converted data path,
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| time mapping, TAG columns, flattened fields, dropped fields, omitted video
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| features, and video alignment policy.
|
|
|
| ## Citation
|
|
|
| The original dataset card does not provide a BibTeX citation.
|
|
|
