Add TsFile (converted from iiyudana/random50_v3)

.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/random50_v3_train.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,141 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- tsfile
+- time-series
+- modality:timeseries
+pretty_name: Random50 v3 (TsFile)
+size_categories:
+- 10K<n<100K
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/random50_v3_train.tsfile
+---
+
+# Random50 v3 (TsFile)
+
+This dataset is an Apache TsFile conversion of the Hugging Face dataset
+[`iiyudana/random50_v3`](https://huggingface.co/datasets/iiyudana/random50_v3).
+The source dataset was created with
+[LeRobot](https://github.com/huggingface/lerobot) and contains ALOHA robot
+demonstrations for transferring a cube between arms.
+
+Modalities: Time-series. The original repository also contains synchronized
+top-camera videos; videos are not included in this converted repository.
+
+## Source Dataset
+
+- Original dataset: [`iiyudana/random50_v3`](https://huggingface.co/datasets/iiyudana/random50_v3)
+- License: `apache-2.0`
+- LeRobot codebase version: `v2.1`
+- Robot type: `aloha`
+- Task: `Pick up the cube with the right arm and transfer it to the left arm.`
+- Split: `train` (`0:50`)
+- Scale: `50` episodes, `20,000` frames, `1` task
+- Sampling rate: `50` fps
+- Source videos: `50` MP4 files from `observation.images.top`
+- Source data layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- Source video layout: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+
+## Converted File
+
+- TsFile: `data/random50_v3_train.tsfile`
+- TsFile table: `random50_v3_train`
+- Converted rows: `20,000`
+- Episodes: `50`
+- Time precision: milliseconds
+- TAG columns: `episode_index`, `task_index`
+- File size: `2,195,882` bytes
+
+All source episodes in the train split are merged into one TsFile. The source
+`episode_index` and `task_index` columns are retained as TAG columns, allowing
+queries to select an episode without creating synthetic tag aliases.
+
+## Schema
+
+`Time` is computed as `round(timestamp * 1000)` in milliseconds and restarts in
+each episode. At 50 fps, consecutive source frames are approximately 20 ms
+apart. The source `timestamp` column is dropped because it is redundant with
+`Time / 1000` seconds. No source rows are dropped.
+
+TAG columns:
+
+- `episode_index`
+- `task_index`
+
+FIELD columns:
+
+- `frame_index`
+- `sample_index` (renamed from source `index`)
+- `observation_state_0` through `observation_state_13` (FLOAT)
+- `action_0` through `action_13` (FLOAT)
+
+The 14 elements in both `observation.state` and `action` use this source order:
+
+1. `left_waist`
+2. `left_shoulder`
+3. `left_elbow`
+4. `left_forearm_roll`
+5. `left_wrist_angle`
+6. `left_wrist_rotate`
+7. `left_gripper`
+8. `right_waist`
+9. `right_shoulder`
+10. `right_elbow`
+11. `right_forearm_roll`
+12. `right_wrist_angle`
+13. `right_wrist_rotate`
+14. `right_gripper`
+
+Vector names preserve the full source feature name: `.` is replaced with `_`
+and the element index is appended.
+
+## Video Policy
+
+The source feature `observation.images.top` is not converted or uploaded. It is
+480 x 640 RGB AV1 video at 50 fps. Use the original dataset for the synchronized
+videos:
+[`iiyudana/random50_v3/videos`](https://huggingface.co/datasets/iiyudana/random50_v3/tree/main/videos).
+
+The numeric rows retain `episode_index`, `frame_index`, `task_index`, and
+`sample_index`, preserving their alignment with the original per-episode video.
+
+## Metadata
+
+The source `meta/` files are mirrored in this repository. `meta/info.json` is
+updated so `data_path` points to `data/random50_v3_train.tsfile`. Its
+`tsfile_conversion` object records the actual table name, source episode-file
+count, converted TsFile count, Time formula, TAG columns, row count, flattened
+features, renamed and dropped fields, and frame/video alignment. The converted
+`total_videos` value is `0`; the original count of `50` is preserved as
+`tsfile_conversion.source_video_count`.
+
+## Validation
+
+The converted file was validated with the project pipeline and read back with
+the TsFile Python SDK:
+
+- staged Parquet rows: `20,000`
+- TsFile metadata rows: `20,000`
+- TsFile query rows: `20,000`
+- duplicate `(episode_index, task_index, Time)` rows: `0`
+- TsFile size: `2,195,882` bytes
+
+## Usage
+
+```python
+from tsfile import TsFileReader
+
+path = "data/random50_v3_train.tsfile"
+with TsFileReader(path) as reader:
+    schemas = reader.get_all_table_schemas()
+    table = schemas["random50_v3_train"]
+    print([(column.get_column_name(), column.get_category())
+           for column in table.get_columns()])
+```

data/random50_v3_train.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f396d8f1944ce41d57837700fbfeda94e86a5f00d0b5a00d2788f6c12fb2bc
+size 2195882

meta/episodes.jsonl

@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 1, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 2, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 3, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 4, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 5, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 6, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 7, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 8, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 9, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 10, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 11, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 12, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 13, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 14, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 15, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 16, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 17, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 18, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 19, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 20, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 21, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 22, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 23, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 24, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 25, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 26, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 27, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 28, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 29, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 30, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 31, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 32, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 33, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 34, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 35, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 36, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 37, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 38, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 39, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 40, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 41, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 42, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 43, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 44, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 45, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 46, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 47, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 48, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}
+{"episode_index": 49, "tasks": ["Pick up the cube with the right arm and transfer it to the left arm."], "length": 400}

meta/info.json

@@ -0,0 +1,362 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "aloha",
+  "total_episodes": 50,
+  "total_frames": 20000,
+  "total_tasks": 1,
+  "total_videos": 0,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 50,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/random50_v3_train.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"
+    },
+    "observation_state_4": {
+      "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"
+    },
+    "action_5": {
+      "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"
+    },
+    "action_8": {
+      "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"
+    },
+    "action_11": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_12": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "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": "iiyudana/random50_v3",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/random50_v3_train.tsfile",
+    "table_name": "random50_v3_train",
+    "granularity": "per_split",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "formula": "Time = round(timestamp * 1000)",
+      "source_unit": "seconds",
+      "fps": 50,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 20000,
+    "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.top"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.top": {
+        "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": 50,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/iiyudana/random50_v3/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
+    "source_video_count": 50,
+    "source_episode_file_count": 50,
+    "converted_tsfile_count": 1,
+    "table_names": [
+      "random50_v3_train"
+    ],
+    "frame_video_alignment": {
+      "relationship": "one converted row per source frame",
+      "preserved_columns": [
+        "episode_index",
+        "task_index",
+        "frame_index",
+        "sample_index"
+      ],
+      "sample_index_mapping": {
+        "source": "index",
+        "converted": "sample_index"
+      },
+      "video_location": "original_dataset_only"
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick up the cube with the right arm and transfer it to the left arm."}