Add TsFile (converted from axiboai/piper_stacking_realigned_v2)

.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/piper_stacking_realigned_v2.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,84 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- lerobot
+- robotics
+- tsfile
+- time-series
+- modality:timeseries
+modality: timeseries
+pretty_name: Piper Stacking Realigned V2 (TsFile)
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/piper_stacking_realigned_v2.tsfile
+---
+
+# Piper Stacking Realigned V2 (TsFile)
+
+This is a time-series conversion of [`axiboai/piper_stacking_realigned_v2`](https://huggingface.co/datasets/axiboai/piper_stacking_realigned_v2), a LeRobot v2.1 robotics dataset containing cube-stacking demonstrations from a bimanual Piper robot.
+
+- **Modalities:** Time-series
+- **Robot:** `piperx_bimanual`
+- **Source task labels:** `stack red cube and stack  on blue cube` and `stack red cube on blue cube`
+- **License:** Apache License 2.0
+
+## Dataset scale
+
+| Split | Episodes | Frames / TsFile rows | Sampling rate | Tasks | Source Parquets | Final TsFiles |
+|---|---:|---:|---:|---:|---:|---:|
+| `train` | 111 | 38,531 | 30 fps | 2 | 111 | 1 |
+
+All numeric frame data is merged into exactly one file, [`data/piper_stacking_realigned_v2.tsfile`](data/piper_stacking_realigned_v2.tsfile), containing the table `piper_stacking_realigned_v2`. The file is approximately 1.79 MB.
+
+## TsFile schema
+
+| Column | TsFile role | Type | Description |
+|---|---|---|---|
+| `Time` | TIME | `INT64` | Milliseconds, computed as `Time = round(timestamp * 1000)`; time restarts within each episode. |
+| `episode_index` | TAG | `INT64` | Original episode identifier (`0` through `110`). |
+| `task_index` | TAG | `INT64` | Original task identifier (`0` or `1`). |
+| `frame_index` | FIELD | `INT64` | Original frame position within the episode. |
+| `sample_index` | FIELD | `INT64` | Original global `index`, renamed to avoid ambiguity. |
+| `observation_state_0` ... `observation_state_13` | FIELD | `FLOAT` (`float32`) | Complete 14-element source `observation.state` vector for the left and right joints and grippers. |
+| `action_0` ... `action_13` | FIELD | `FLOAT` (`float32`) | Complete 14-element source `action` vector for the left and right joints and grippers. |
+
+The source `timestamp` column is dropped after generating `Time` because it is the redundant seconds representation of the same time coordinate (`Time / 1000`). No rows or other numeric source columns are dropped. Both vectors are flattened without truncation, `index` is renamed, and the episode, task, and frame identifiers remain available.
+
+## Videos and metadata
+
+The source contains three 480 x 640 RGB AV1 camera streams: `observation.images.cam_front`, `observation.images.cam_left_wrist`, and `observation.images.cam_right_wrist`. Their 333 MP4 files are intentionally omitted from this time-series repository and remain in the original dataset's [`videos/` tree](https://huggingface.co/datasets/axiboai/piper_stacking_realigned_v2/tree/main/videos).
+
+Numeric rows retain `episode_index`, `frame_index`, and the 30 fps time coordinate, so they remain aligned with the corresponding source video frames. The source `meta/` files are mirrored, except that `meta/info.json` is rewritten to describe the single TsFile path, TIME/TAG/FIELD schema, flattened and renamed features, omitted video features, and source-video alignment. No `videos/` directory is included here.
+
+## Reading the data
+
+Install the Apache TsFile Python package, then query the actual table. `query_table` returns the time column automatically in addition to the requested TAG and FIELD columns.
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/piper_stacking_realigned_v2.tsfile")
+columns = [
+    "episode_index",
+    "task_index",
+    "frame_index",
+    "sample_index",
+    "observation_state_0",
+    "action_0",
+]
+
+with reader.query_table(
+    "piper_stacking_realigned_v2", columns, batch_size=65536
+) as result:
+    batch = result.read_arrow_batch()
+    if batch is not None:
+        print(batch.to_pandas().head())
+```
+
+## Source and citation
+
+The source dataset was created with [LeRobot](https://github.com/huggingface/lerobot) and is published at [`axiboai/piper_stacking_realigned_v2`](https://huggingface.co/datasets/axiboai/piper_stacking_realigned_v2). Its dataset card does not provide a paper or BibTeX citation; consult the source repository for any future citation updates.

data/piper_stacking_realigned_v2.tsfile

@@ -0,0 +1,3 @@
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+oid sha256:d73b6010e7a92672fdc861ccf433282aeb2d1b5e6b956df024a07c263664269d
+size 1794289

meta/episodes.jsonl

@@ -0,0 +1,111 @@
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+{"episode_index": 1, "tasks": ["stack red cube and stack  on blue cube"], "length": 360}
+{"episode_index": 2, "tasks": ["stack red cube and stack  on blue cube"], "length": 357}
+{"episode_index": 3, "tasks": ["stack red cube and stack  on blue cube"], "length": 319}
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meta/info.json

@@ -0,0 +1,388 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "piperx_bimanual",
+  "total_episodes": 111,
+  "total_frames": 38531,
+  "total_tasks": 2,
+  "total_videos": 333,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:111"
+  },
+  "data_path": "data/piper_stacking_realigned_v2.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"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_6": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_7": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_8": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_9": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_10": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_11": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_12": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_13": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_6": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_7": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_9": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_10": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
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+      "dtype": "float32",
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+      "tsfile_role": "FIELD"
+    },
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+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_13": {
+      "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": "axiboai/piper_stacking_realigned_v2",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/piper_stacking_realigned_v2.tsfile",
+    "table_name": "piper_stacking_realigned_v2",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 38531,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5",
+        "observation_state_6",
+        "observation_state_7",
+        "observation_state_8",
+        "observation_state_9",
+        "observation_state_10",
+        "observation_state_11",
+        "observation_state_12",
+        "observation_state_13"
+      ],
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5",
+        "action_6",
+        "action_7",
+        "action_8",
+        "action_9",
+        "action_10",
+        "action_11",
+        "action_12",
+        "action_13"
+      ]
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.cam_front",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_wrist"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.cam_front": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_left_wrist": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_wrist": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/axiboai/piper_stacking_realigned_v2/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "stack red cube and stack  on blue cube"}
+{"task_index": 1, "task": "stack red cube on blue cube"}