Datasets:

zjt24
/

so100_sorting

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so100
  - tutorial
  - robotics
  - tsfile
  - time-series
  - modality:timeseries
pretty_name: SO-100 Sorting (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/so100_sorting.tsfile

SO-100 Sorting (TsFile)

This dataset is an Apache TsFile conversion of the Hugging Face dataset dragon-95/so100_sorting. The source dataset was created using LeRobot.

Modalities: Time-series. The original repository also contains synchronized video streams; videos are not included in this converted repository.

Source Dataset

Original dataset: dragon-95/so100_sorting
License: apache-2.0
LeRobot codebase version: v2.0
Robot type: so100
Task: Put the object in box A into box B
Split: train (0:61)
Source scale from meta/info.json: 61 episodes, 95,346 frames, 1 task
Source video count: 122
Sampling rate: 50 fps
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 Files

TsFile: data/so100_sorting.tsfile
Converted rows: 95,346
TsFile table: so100_sorting
Time precision: milliseconds
TAG columns: episode_index, task_index

Schema

Time is synthesized as round(timestamp * 1000) in milliseconds. The source timestamp column is dropped because it is redundant with Time / 1000 seconds. At 50 fps, consecutive frames are spaced by about 20 ms.

TAG columns:

episode_index
task_index

FIELD columns:

frame_index
sample_index (renamed from source index)
action_0 to action_5
observation_state_0 to observation_state_5

Vector features are flattened by preserving the source feature name and replacing . with _. For example, observation.state becomes observation_state_0 to observation_state_5. The 6-element action and observation.state vectors use the source joint order: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper.

Video Policy

The following source video features are not converted into TsFile and are not uploaded here:

observation.images.laptop
observation.images.phone

Use the original dataset for videos: dragon-95/so100_sorting/videos.

Metadata

The source meta/ files are mirrored in this repository. meta/info.json is updated so data_path points to data/so100_sorting.tsfile and includes a tsfile_conversion object documenting the Time mapping, TAG columns, flattened features, dropped fields, and video policy.

Validation

The converted TsFile was validated with the project pipeline and read back using the TsFile Python SDK:

staged Parquet rows: 95,346
TsFile metadata rows: 95,346
TsFile query rows: 95,346
TsFile size: 1,682,521 bytes

Usage

from tsfile import TsFileReader

path = "data/so100_sorting.tsfile"
with TsFileReader(path) as reader:
    schemas = reader.get_all_table_schemas()
    print(schemas.keys())