---
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())
```