zjt24/berkeley_mvp_lerobot

Berkeley MVP LeRobot TsFile

This dataset is a TsFile conversion of the Hugging Face dataset IPEC-COMMUNITY/berkeley_mvp_lerobot, which was created using LeRobot.

Modalities: Time-series. The original dataset also contains a hand-camera video stream. The videos are not included in this repository and remain available in the source dataset.

Source Dataset

• Original dataset: IPEC-COMMUNITY/berkeley_mvp_lerobot
• License: Apache-2.0
• Task category: robotics
• Robot type: xarm
• LeRobot codebase version: v2.1 in meta/info.json
• Split: single train split (0:480)
• Scale: 480 episodes, 45,308 frames, 6 tasks, 480 source frame Parquet files
• Sampling rate: 5 fps
• Original video feature: observation.images.hand_image (480 x 640 RGB, AV1, 5 fps)

The six source tasks are:

1. push wooden cube
2. pick detergent from the sink
3. reach red block
4. pick yellow cube
5. close fridge door
6. pick fruit

The source dataset card does not provide a paper, homepage, authors, or a BibTeX citation.

Converted Files

• TsFile: data/berkeley_mvp_lerobot.tsfile
• TsFile size: 2,614,379 bytes
• Rows: 45,308
• Episodes: 480
• Tasks: 6
• Table name: berkeley_mvp_lerobot
• Time precision: milliseconds
• Metadata: meta/ is mirrored from the source dataset, with meta/info.json rewritten to describe the TsFile artifact and conversion mapping.

Schema

Column	Role	Type	Notes
Time	TIME	INT64	round(timestamp * 1000), in milliseconds; restarts per episode
episode_index	TAG	INT64	Source episode identifier
task_index	TAG	INT64	Source task identifier (0 through 5)
frame_index	FIELD	INT64	Source frame index, preserved
sample_index	FIELD	INT64	Renamed from source index
observation_state_0 ... observation_state_7	FIELD	FLOAT	Flattened from observation.state[8]
action_0 ... action_7	FIELD	FLOAT	Flattened from action[8]

The observation-state elements are x, y, z, rx, ry, rz, rw, and gripper. The action elements are motor_0 through motor_6 and gripper.

episode_index and task_index are TAG columns, so an individual episode can be selected by filtering on episode_index, and a task can be selected by filtering on task_index.

Conversion Notes

• All 480 LeRobot frame Parquet files under data/chunk-000/ were merged into one TsFile for the train split.
• Vector columns were flattened by preserving the source column name, replacing . with _, and appending the element index. Floating-point values remain single-precision FLOAT fields.
• The source timestamp column is dropped because it is redundant with Time / 1000 seconds.
• The source index column is renamed to sample_index.
• The camera video feature is omitted from the converted schema and videos are not uploaded here. Use the original dataset videos: https://huggingface.co/datasets/IPEC-COMMUNITY/berkeley_mvp_lerobot/tree/main/videos
• meta/info.json records the original and converted data paths, Time mapping, TAG columns, row count, flattened fields, renamed/dropped fields, and video alignment policy.

Validation

• The output directory contains exactly one .tsfile file.
• Apache TsFile SDK readback returned 45,308 rows, matching the staged Parquet.
• Readback confirmed both TAG columns and all 18 FIELD columns.

Read Example

from tsfile import TsFileReader

path = "data/berkeley_mvp_lerobot.tsfile"
table = "berkeley_mvp_lerobot"

with TsFileReader(path) as reader:
    columns = [
        "episode_index",
        "task_index",
        "frame_index",
        "sample_index",
        "action_0",
        "observation_state_0",
    ]
    with reader.query_table(table, columns, batch_size=4096) as result:
        batch = result.read_arrow_batch()
        print(batch)

Citation

The original dataset card does not provide a BibTeX citation.