Add TsFile (converted from lerobot/berkeley_cable_routing)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/berkeley_cable_routing.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,105 @@
+---
+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`](https://huggingface.co/datasets/lerobot/berkeley_cable_routing).
+The source dataset was created using [LeRobot](https://github.com/huggingface/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`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/lerobot/berkeley_cable_routing/tree/main/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
+
+```python
+from tsfile import TsFileReader
+
+path = "data/berkeley_cable_routing.tsfile"
+with TsFileReader(path) as reader:
+    schemas = reader.get_all_table_schemas()
+    print(schemas.keys())
+```

data/berkeley_cable_routing.tsfile

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+version https://git-lfs.github.com/spec/v1
+oid sha256:27c9bbf6a9f0b08b0bf99670101ecbc356982c31c96e51dc315509426266d3ff
+size 5341009

meta/episodes/chunk-000/file-000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:56827e74c4f803ae6aafe54b1b10167229e6c9dd1501e547a787f2a244773915
+size 2167447

meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "unknown",
+  "total_episodes": 1647,
+  "total_frames": 42328,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 10,
+  "splits": {
+    "train": "0:1647"
+  },
+  "data_path": "data/berkeley_cable_routing.tsfile",
+  "features": {
+    "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"
+    },
+    "next_reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "next_done": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD"
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+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_6": {
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+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_7": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
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+      "shape": [
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+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
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+      "tsfile_role": "FIELD"
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+    "action_4": {
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+      "tsfile_role": "FIELD"
+    },
+    "action_5": {
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+      "shape": [
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+      "tsfile_role": "FIELD"
+    },
+    "action_6": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    }
+  },
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "video_path_original": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "lerobot/berkeley_cable_routing",
+    "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "converted_data_path": "data/berkeley_cable_routing.tsfile",
+    "table_name": "berkeley_cable_routing",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 10,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 42328,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
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+    "original_video_source": "https://huggingface.co/datasets/lerobot/berkeley_cable_routing/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

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+            42327
+        ]
+    }
+}

meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f8fccd7efff90d518b23ac254d29b3683319f7b917763abc9e4d62e7f79f8f
+size 2045