Vacuame/train4 (LeRobot SO-100) - TsFile

This dataset converts the numeric time-series from Vacuame/train4 to Apache TsFile while preserving the LeRobot episode-level layout.

Repository Layout

README.md
data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile
meta/info.json
meta/tasks.jsonl
meta/episodes.jsonl
meta/stats.json
videos/chunk-000/observation.images.laptop/episode_000000.mp4
videos/chunk-000/observation.images.laptop/episode_000001.mp4
videos/chunk-000/observation.images.phone/episode_000000.mp4
videos/chunk-000/observation.images.phone/episode_000001.mp4

Source Dataset

• Source: Vacuame/train4
• LeRobot version: v2.0
• Robot type: so100
• Episodes: 2
• Frames: 119
• FPS: 30
• Task: try
• Video streams: observation.images.laptop, observation.images.phone

The original source data is one Parquet file per episode:

data/chunk-000/episode_000000.parquet
data/chunk-000/episode_000001.parquet

The converted data keeps the same episode granularity:

data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile

TsFile Mapping

• Table name: vacuame_train4
• TAG columns: episode_id, task_id
• Time precision: milliseconds
• Time definition: round(frame_index * 1000 / 30)
• timestamp is preserved as episode_timestamp_s
• index is renamed to sample_index
• observation.state[6] is flattened to state_0 ... state_5
• action[6] is flattened to action_0 ... action_5
• Row count preserved: 119 source rows -> 119 TsFile rows across 2 files

Video Alignment

Videos are not stored inside TsFile. They are mirrored under videos/ and aligned by episode and frame:

data/chunk-000/episode_000000.tsfile
videos/chunk-000/observation.images.laptop/episode_000000.mp4
videos/chunk-000/observation.images.phone/episode_000000.mp4

Within an episode, frame_index aligns with the video frame index, and episode_timestamp_s aligns with video time in seconds.

Metadata

meta/info.json has been updated so:

"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile"

It also includes a tsfile_conversion object documenting the source path, converted path, TAG columns, time mapping, row count, and vector flattening.

Citation

@misc{vacuame_train4,
  title  = {train4 (LeRobot SO-100)},
  author = {Vacuame},
  url    = {https://huggingface.co/datasets/Vacuame/train4},
  publisher = {Hugging Face}
}

The source HuggingFace dataset does not declare an explicit license.