Add TsFile conversion for Vacuame/train4

README.md

@@ -1,109 +1,118 @@
----
-license: other
-language:
-- en
-pretty_name: Vacuame/train4 (LeRobot SO-100) - TsFile
-tags:
-- time-series
-- tsfile
-- robotics
-- lerobot
-- so100
-- manipulation
-- timeseries
-task_categories:
-- time-series-forecasting
-- robotics
----
-
-# Vacuame/train4 (LeRobot SO-100) - TsFile
-
-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.
-
-## Repository Layout
-
-```text
-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`](https://huggingface.co/datasets/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:
-
-```text
-data/chunk-000/episode_000000.parquet
-data/chunk-000/episode_000001.parquet
-```
-
-The converted data keeps the same episode granularity:
-
-```text
-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:
-
-```text
-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:
-
-```json
-"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
-
-```bibtex
-@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.
+---
+language:
+  - en
+pretty_name: "Vacuame/train4 (LeRobot SO-100) - TsFile"
+tags:
+  - time-series
+  - tsfile
+  - robotics
+  - lerobot
+  - so100
+  - manipulation
+modality: timeseries
+task_categories:
+  - robotics
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: data/vacuame_train4.tsfile
+---
+
+# Vacuame/train4 (LeRobot SO-100) - TsFile
+
+This dataset converts the numeric frame time-series from
+[`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4) to Apache
+TsFile format.
+
+Modalities: Time-series. The original camera videos are not included in this
+converted repository; they remain in the source Hugging Face dataset.
+
+## Source Dataset
+
+- Original dataset: [`Vacuame/train4`](https://huggingface.co/datasets/Vacuame/train4)
+- LeRobot version: v2.0
+- Robot type: `so100`
+- Scale: 2 episodes, 119 frames, 1 task (`try`)
+- Sampling rate: 30 fps
+- Source frame data: `data/chunk-000/episode_000000.parquet` and
+  `data/chunk-000/episode_000001.parquet`
+- Source videos: 2 camera streams, `observation.images.laptop` and
+  `observation.images.phone`, available in the source dataset
+  [`videos/`](https://huggingface.co/datasets/Vacuame/train4/tree/main/videos)
+  tree
+- License: the source dataset does not declare an explicit license
+
+## Converted Layout
+
+```text
+README.md
+data/vacuame_train4.tsfile
+meta/info.json
+meta/tasks.jsonl
+meta/episodes.jsonl
+meta/stats.json
+```
+
+The converted TsFile contains all 119 numeric frame rows in one table named
+`vacuame_train4`.
+
+## Schema
+
+| Role | Column(s) | Type | Notes |
+|------|-----------|------|-------|
+| Time | `Time` | INT64 ms | `round(timestamp * 1000)` |
+| TAG | `episode_index`, `task_index` | INT64 | Source columns used as TsFile device tags |
+| FIELD | `frame_index`, `sample_index` | INT64 | `index` is renamed to `sample_index` |
+| FIELD | `action_0` ... `action_5` | FLOAT | Flattened from `action[6]` |
+| FIELD | `observation_state_0` ... `observation_state_5` | FLOAT | Flattened from `observation.state[6]` |
+
+## Conversion Notes
+
+- The generic `lerobot` converter was used.
+- `timestamp` is dropped because it is redundant with `Time / 1000` seconds.
+- `frame_index` is kept so rows can be aligned back to source video frames.
+- Vector columns preserve the source feature name with `.` replaced by `_`:
+  `observation.state` becomes `observation_state_0..observation_state_5`, and
+  `action` becomes `action_0..action_5`.
+- Video features are omitted from the converted repository. Use the original
+  dataset's `videos/` tree for camera data.
+- Source `meta/` files are mirrored; `meta/info.json` is updated with a
+  `tsfile_conversion` object documenting the converted path, schema roles,
+  flattened features, dropped features, omitted videos, and row count.
+
+## Usage
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/vacuame_train4.tsfile")
+schemas = reader.get_all_table_schemas()
+table_name = next(iter(schemas))
+
+columns = [
+    "episode_index",
+    "task_index",
+    "frame_index",
+    "observation_state_0",
+    "action_0",
+]
+
+with reader.query_table(table_name, columns, batch_size=65536) as result:
+    while (batch := result.read_arrow_batch()) is not None:
+        df = batch.to_pandas()
+        # Process rows here.
+
+reader.close()
+```
+
+## Citation
+
+```bibtex
+@misc{vacuame_train4,
+  title     = {train4 (LeRobot SO-100)},
+  author    = {Vacuame},
+  url       = {https://huggingface.co/datasets/Vacuame/train4},
+  publisher = {Hugging Face}
+}
+```

meta/info.json

@@ -11,138 +11,226 @@
   "splits": {
     "train": "0:2"
   },
-  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile",
-  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "data_path": "data/vacuame_train4.tsfile",
   "features": {
-    "action": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "sample_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
       "dtype": "float32",
       "shape": [
-        6
+        1
       ],
-      "names": [
-        "main_shoulder_pan",
-        "main_shoulder_lift",
-        "main_elbow_flex",
-        "main_wrist_flex",
-        "main_wrist_roll",
-        "main_gripper"
-      ]
+      "tsfile_role": "FIELD"
     },
-    "observation.state": {
+    "action_1": {
       "dtype": "float32",
       "shape": [
-        6
+        1
       ],
-      "names": [
-        "main_shoulder_pan",
-        "main_shoulder_lift",
-        "main_elbow_flex",
-        "main_wrist_flex",
-        "main_wrist_roll",
-        "main_gripper"
-      ]
+      "tsfile_role": "FIELD"
     },
-    "observation.images.laptop": {
-      "dtype": "video",
-      "shape": [
-        480,
-        640,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channels"
-      ],
-      "info": {
-        "video.fps": 30.0,
-        "video.height": 480,
-        "video.width": 640,
-        "video.channels": 3,
-        "video.codec": "av1",
-        "video.pix_fmt": "yuv420p",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
     },
-    "observation.images.phone": {
-      "dtype": "video",
-      "shape": [
-        480,
-        640,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channels"
-      ],
-      "info": {
-        "video.fps": 30.0,
-        "video.height": 480,
-        "video.width": 640,
-        "video.channels": 3,
-        "video.codec": "av1",
-        "video.pix_fmt": "yuv420p",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
     },
-    "timestamp": {
+    "action_4": {
       "dtype": "float32",
       "shape": [
         1
       ],
-      "names": null
+      "tsfile_role": "FIELD"
     },
-    "frame_index": {
-      "dtype": "int64",
+    "action_5": {
+      "dtype": "float32",
       "shape": [
         1
       ],
-      "names": null
+      "tsfile_role": "FIELD"
     },
-    "episode_index": {
-      "dtype": "int64",
+    "observation_state_0": {
+      "dtype": "float32",
       "shape": [
         1
       ],
-      "names": null
+      "tsfile_role": "FIELD"
     },
-    "index": {
-      "dtype": "int64",
+    "observation_state_1": {
+      "dtype": "float32",
       "shape": [
         1
       ],
-      "names": null
+      "tsfile_role": "FIELD"
     },
-    "task_index": {
-      "dtype": "int64",
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
       "shape": [
         1
       ],
-      "names": null
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
     }
   },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
   "tsfile_conversion": {
     "source_dataset": "Vacuame/train4",
     "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-    "converted_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.tsfile",
+    "converted_data_path": "data/vacuame_train4.tsfile",
     "table_name": "vacuame_train4",
+    "granularity": "merged",
     "time_precision": "ms",
-    "time_column": "Time = round(frame_index * 1000 / 30)",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
     "tag_columns": [
-      "episode_id",
-      "task_id"
+      "episode_index",
+      "task_index"
     ],
     "row_count": 119,
-    "episode_files": 2,
-    "vector_columns_flattened": {
-      "observation.state": "state_0..state_5",
-      "action": "action_0..action_5"
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5"
+      ],
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5"
+      ]
     },
-    "frame_alignment": "episode_index selects the TsFile/video file; frame_index aligns with video frame index; episode_timestamp_s aligns with video time in seconds.",
-    "notes": "meta/ and videos/ are mirrored from the source repository; only Parquet data is converted to TsFile."
-  },
-  "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"
-}
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.laptop",
+      "observation.images.phone"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.laptop": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.phone": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/Vacuame/train4/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}