README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - tsfile
  - time-series
  - modality:timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/berkeley_cable_routing.tsfile

berkeley_cable_routing

This dataset is a TsFile conversion of the Hugging Face dataset lerobot/berkeley_cable_routing. The source dataset was created using LeRobot.

Modalities: Time-series. The original repository also contains video streams; videos are not included in this converted repository.

Source Dataset

• Original dataset: lerobot/berkeley_cable_routing
• License: apache-2.0
• LeRobot codebase version: v3.0
• Robot type: unknown
• Task: route cable
• Split: train (0:1647)
• Source scale from meta/info.json: 1,647 episodes, 42,328 frames, 1 task
• Sampling rate: 10 fps
• Source data layout: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• Source video layout: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

Converted Files

• TsFile: data/berkeley_cable_routing.tsfile
• Converted rows: 42,328
• TsFile table: berkeley_cable_routing
• Time precision: milliseconds
• TAG columns: episode_index, task_index

The conversion follows the LeRobot v3 data path in meta/info.json and uses the file-*.parquet frame data layout.

Schema

Time is synthesized as round(timestamp * 1000) in milliseconds. The source timestamp column is dropped because it is redundant with Time / 1000 seconds.

TAG columns:

• episode_index
• task_index

FIELD columns:

• frame_index
• sample_index (renamed from source index)
• next_reward (renamed from source next.reward)
• next_done (renamed from source next.done, stored as 0/1)
• observation_state_0 to observation_state_7
• action_0 to action_6

Vector features are flattened by preserving the source feature name and replacing . with _. For example, observation.state becomes observation_state_0 to observation_state_7, and action becomes action_0 to action_6.

Video Policy

The following source video features are not converted into TsFile and are not uploaded here:

• observation.images.top_image
• observation.images.wrist225_image
• observation.images.wrist45_image
• observation.images.image

Use the original dataset for videos: lerobot/berkeley_cable_routing/videos.

Validation

The converted TsFile was validated with the project pipeline and read back using the TsFile Python SDK:

• staged Parquet rows: 42,328
• TsFile metadata rows: 42,328
• TsFile query rows: 42,328

Usage

from tsfile import TsFileReader

path = "data/berkeley_cable_routing.tsfile"
with TsFileReader(path) as reader:
    schemas = reader.get_all_table_schemas()
    print(schemas.keys())