| ---
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| license: other
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| language:
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| - en
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| pretty_name: Vacuame/train4 (LeRobot SO-100) - TsFile
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| tags:
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| - time-series
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| - tsfile
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| - robotics
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| - lerobot
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| - so100
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| - manipulation
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| - timeseries
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| task_categories:
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| - time-series-forecasting
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| - robotics
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| ---
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|
|
| # Vacuame/train4 (LeRobot SO-100) - TsFile
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|
|
| This dataset converts the numeric time-series from [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4) to Apache TsFile while preserving the LeRobot episode-level layout.
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|
|
| ## Repository Layout
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|
|
| ```text
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| README.md
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| data/chunk-000/episode_000000.tsfile
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| data/chunk-000/episode_000001.tsfile
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| meta/info.json
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| meta/tasks.jsonl
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| meta/episodes.jsonl
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| meta/stats.json
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| videos/chunk-000/observation.images.laptop/episode_000000.mp4
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| videos/chunk-000/observation.images.laptop/episode_000001.mp4
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| videos/chunk-000/observation.images.phone/episode_000000.mp4
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| videos/chunk-000/observation.images.phone/episode_000001.mp4
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| ```
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|
|
| ## Source Dataset
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|
|
| - Source: [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4)
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| - LeRobot version: v2.0
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| - Robot type: `so100`
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| - Episodes: 2
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| - Frames: 119
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| - FPS: 30
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| - Task: `try`
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| - Video streams: `observation.images.laptop`, `observation.images.phone`
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|
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| The original source data is one Parquet file per episode:
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|
|
| ```text
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| data/chunk-000/episode_000000.parquet
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| data/chunk-000/episode_000001.parquet
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| ```
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|
|
| The converted data keeps the same episode granularity:
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|
|
| ```text
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| data/chunk-000/episode_000000.tsfile
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| data/chunk-000/episode_000001.tsfile
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| ```
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|
|
| ## TsFile Mapping
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|
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| - Table name: `vacuame_train4`
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| - TAG columns: `episode_id`, `task_id`
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| - Time precision: milliseconds
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| - Time definition: `round(frame_index * 1000 / 30)`
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| - `timestamp` is preserved as `episode_timestamp_s`
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| - `index` is renamed to `sample_index`
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| - `observation.state[6]` is flattened to `state_0` ... `state_5`
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| - `action[6]` is flattened to `action_0` ... `action_5`
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| - Row count preserved: 119 source rows -> 119 TsFile rows across 2 files
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|
|
| ## Video Alignment
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|
|
| Videos are not stored inside TsFile. They are mirrored under `videos/` and aligned by episode and frame:
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|
|
| ```text
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| data/chunk-000/episode_000000.tsfile
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| videos/chunk-000/observation.images.laptop/episode_000000.mp4
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| videos/chunk-000/observation.images.phone/episode_000000.mp4
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| ```
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|
|
| Within an episode, `frame_index` aligns with the video frame index, and `episode_timestamp_s` aligns with video time in seconds.
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|
|
| ## Metadata
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|
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| `meta/info.json` has been updated so:
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|
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| ```json
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| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile"
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| ```
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|
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| It also includes a `tsfile_conversion` object documenting the source path, converted path, TAG columns, time mapping, row count, and vector flattening.
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|
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| ## Citation
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|
|
| ```bibtex
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| @misc{vacuame_train4,
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| title = {train4 (LeRobot SO-100)},
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| author = {Vacuame},
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| url = {https://huggingface.co/datasets/Vacuame/train4},
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| publisher = {Hugging Face}
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| }
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| ```
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|
|
| The source HuggingFace dataset does not declare an explicit license.
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|
|
