Add TsFile (converted from dragon-95/so100_sorting)

.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/so100_sorting.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,116 @@
+---
+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`](https://huggingface.co/datasets/dragon-95/so100_sorting).
+The source dataset was created using [LeRobot](https://github.com/huggingface/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`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/dragon-95/so100_sorting/tree/main/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
+
+```python
+from tsfile import TsFileReader
+
+path = "data/so100_sorting.tsfile"
+with TsFileReader(path) as reader:
+    schemas = reader.get_all_table_schemas()
+    print(schemas.keys())
+```

data/so100_sorting.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c9544b06763d7b9ac8128b8831700628fcacb5778f29996110e8f4398415a8e
+size 1682521

meta/episodes.jsonl

@@ -0,0 +1,61 @@
+{"episode_index": 0, "tasks": ["Put the object in box A into box B"], "length": 878}
+{"episode_index": 1, "tasks": ["Put the object in box A into box B"], "length": 1122}
+{"episode_index": 2, "tasks": ["Put the object in box A into box B"], "length": 886}
+{"episode_index": 3, "tasks": ["Put the object in box A into box B"], "length": 961}
+{"episode_index": 4, "tasks": ["Put the object in box A into box B"], "length": 838}
+{"episode_index": 5, "tasks": ["Put the object in box A into box B"], "length": 1019}
+{"episode_index": 6, "tasks": ["Put the object in box A into box B"], "length": 966}
+{"episode_index": 7, "tasks": ["Put the object in box A into box B"], "length": 961}
+{"episode_index": 8, "tasks": ["Put the object in box A into box B"], "length": 1410}
+{"episode_index": 9, "tasks": ["Put the object in box A into box B"], "length": 1808}
+{"episode_index": 10, "tasks": ["Put the object in box A into box B"], "length": 1652}
+{"episode_index": 11, "tasks": ["Put the object in box A into box B"], "length": 1657}
+{"episode_index": 12, "tasks": ["Put the object in box A into box B"], "length": 1401}
+{"episode_index": 13, "tasks": ["Put the object in box A into box B"], "length": 1640}
+{"episode_index": 14, "tasks": ["Put the object in box A into box B"], "length": 1597}
+{"episode_index": 15, "tasks": ["Put the object in box A into box B"], "length": 1952}
+{"episode_index": 16, "tasks": ["Put the object in box A into box B"], "length": 1148}
+{"episode_index": 17, "tasks": ["Put the object in box A into box B"], "length": 1328}
+{"episode_index": 18, "tasks": ["Put the object in box A into box B"], "length": 1880}
+{"episode_index": 19, "tasks": ["Put the object in box A into box B"], "length": 1878}
+{"episode_index": 20, "tasks": ["Put the object in box A into box B"], "length": 1056}
+{"episode_index": 21, "tasks": ["Put the object in box A into box B"], "length": 2130}
+{"episode_index": 22, "tasks": ["Put the object in box A into box B"], "length": 1666}
+{"episode_index": 23, "tasks": ["Put the object in box A into box B"], "length": 1467}
+{"episode_index": 24, "tasks": ["Put the object in box A into box B"], "length": 1213}
+{"episode_index": 25, "tasks": ["Put the object in box A into box B"], "length": 1494}
+{"episode_index": 26, "tasks": ["Put the object in box A into box B"], "length": 1429}
+{"episode_index": 27, "tasks": ["Put the object in box A into box B"], "length": 1546}
+{"episode_index": 28, "tasks": ["Put the object in box A into box B"], "length": 1394}
+{"episode_index": 29, "tasks": ["Put the object in box A into box B"], "length": 1592}
+{"episode_index": 30, "tasks": ["Put the object in box A into box B"], "length": 1287}
+{"episode_index": 31, "tasks": ["Put the object in box A into box B"], "length": 1173}
+{"episode_index": 32, "tasks": ["Put the object in box A into box B"], "length": 2271}
+{"episode_index": 33, "tasks": ["Put the object in box A into box B"], "length": 2483}
+{"episode_index": 34, "tasks": ["Put the object in box A into box B"], "length": 1951}
+{"episode_index": 35, "tasks": ["Put the object in box A into box B"], "length": 1258}
+{"episode_index": 36, "tasks": ["Put the object in box A into box B"], "length": 2175}
+{"episode_index": 37, "tasks": ["Put the object in box A into box B"], "length": 1211}
+{"episode_index": 38, "tasks": ["Put the object in box A into box B"], "length": 1085}
+{"episode_index": 39, "tasks": ["Put the object in box A into box B"], "length": 1539}
+{"episode_index": 40, "tasks": ["Put the object in box A into box B"], "length": 2024}
+{"episode_index": 41, "tasks": ["Put the object in box A into box B"], "length": 1226}
+{"episode_index": 42, "tasks": ["Put the object in box A into box B"], "length": 1293}
+{"episode_index": 43, "tasks": ["Put the object in box A into box B"], "length": 1690}
+{"episode_index": 44, "tasks": ["Put the object in box A into box B"], "length": 2209}
+{"episode_index": 45, "tasks": ["Put the object in box A into box B"], "length": 1417}
+{"episode_index": 46, "tasks": ["Put the object in box A into box B"], "length": 1873}
+{"episode_index": 47, "tasks": ["Put the object in box A into box B"], "length": 1470}
+{"episode_index": 48, "tasks": ["Put the object in box A into box B"], "length": 2449}
+{"episode_index": 49, "tasks": ["Put the object in box A into box B"], "length": 1583}
+{"episode_index": 50, "tasks": ["Put the object in box A into box B"], "length": 2884}
+{"episode_index": 51, "tasks": ["Put the object in box A into box B"], "length": 1380}
+{"episode_index": 52, "tasks": ["Put the object in box A into box B"], "length": 1349}
+{"episode_index": 53, "tasks": ["Put the object in box A into box B"], "length": 1665}
+{"episode_index": 54, "tasks": ["Put the object in box A into box B"], "length": 957}
+{"episode_index": 55, "tasks": ["Put the object in box A into box B"], "length": 1590}
+{"episode_index": 56, "tasks": ["Put the object in box A into box B"], "length": 1685}
+{"episode_index": 57, "tasks": ["Put the object in box A into box B"], "length": 1409}
+{"episode_index": 58, "tasks": ["Put the object in box A into box B"], "length": 2061}
+{"episode_index": 59, "tasks": ["Put the object in box A into box B"], "length": 1771}
+{"episode_index": 60, "tasks": ["Put the object in box A into box B"], "length": 2959}

meta/info.json

@@ -0,0 +1,238 @@
+{
+  "codebase_version": "v2.0",
+  "robot_type": "so100",
+  "total_episodes": 61,
+  "total_frames": 95346,
+  "total_tasks": 1,
+  "total_videos": 122,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 50,
+  "splits": {
+    "train": "0:61"
+  },
+  "data_path": "data/so100_sorting.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"
+    },
+    "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"
+    },
+    "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"
+    }
+  },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "dragon-95/so100_sorting",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/so100_sorting.tsfile",
+    "table_name": "so100_sorting",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 50,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 95346,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5"
+      ],
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5"
+      ]
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp",
+      "observation.images.laptop",
+      "observation.images.phone"
+    ],
+    "omitted_features": [
+      "observation.images.laptop",
+      "observation.images.phone"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.laptop": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 50.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.phone": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 50.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/dragon-95/so100_sorting/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/stats.json

@@ -0,0 +1,280 @@
+{
+    "action": {
+        "mean": [
+            34.8742561340332,
+            98.74473571777344,
+            90.9620361328125,
+            56.242286682128906,
+            -44.40056610107422,
+            11.71963119506836
+        ],
+        "std": [
+            39.25728988647461,
+            45.938011169433594,
+            46.456424713134766,
+            20.08026123046875,
+            43.7726936340332,
+            16.500518798828125
+        ],
+        "max": [
+            84.375,
+            188.96484375,
+            178.330078125,
+            94.04296875,
+            19.16015625,
+            69.82492065429688
+        ],
+        "min": [
+            -42.01171875,
+            31.81640625,
+            -0.966796875,
+            -31.46484375,
+            -186.943359375,
+            0.10298661142587662
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            34.6362419128418,
+            96.80094146728516,
+            91.42568969726562,
+            55.911903381347656,
+            -43.96977233886719,
+            13.746268272399902
+        ],
+        "std": [
+            38.830360412597656,
+            46.19010543823242,
+            45.982425689697266,
+            19.917469024658203,
+            43.512577056884766,
+            15.913269996643066
+        ],
+        "max": [
+            84.0234375,
+            188.0859375,
+            177.71484375,
+            93.076171875,
+            18.369140625,
+            67.85713958740234
+        ],
+        "min": [
+            -40.60546875,
+            30.05859375,
+            1.318359375,
+            -29.794921875,
+            -177.451171875,
+            -0.08503401279449463
+        ]
+    },
+    "observation.images.laptop": {
+        "mean": [
+            [
+                [
+                    0.6583676934242249
+                ]
+            ],
+            [
+                [
+                    0.6275438666343689
+                ]
+            ],
+            [
+                [
+                    0.5960047245025635
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.27495190501213074
+                ]
+            ],
+            [
+                [
+                    0.2903587818145752
+                ]
+            ],
+            [
+                [
+                    0.3194938004016876
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "observation.images.phone": {
+        "mean": [
+            [
+                [
+                    0.560586154460907
+                ]
+            ],
+            [
+                [
+                    0.5503687262535095
+                ]
+            ],
+            [
+                [
+                    0.5385973453521729
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.3480173945426941
+                ]
+            ],
+            [
+                [
+                    0.3473806083202362
+                ]
+            ],
+            [
+                [
+                    0.3615792691707611
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            17.013526916503906
+        ],
+        "std": [
+            11.41867733001709
+        ],
+        "max": [
+            59.15999984741211
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            850.678955078125
+        ],
+        "std": [
+            570.9337768554688
+        ],
+        "max": [
+            2958.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            32.285152435302734
+        ],
+        "std": [
+            17.133317947387695
+        ],
+        "max": [
+            60.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "index": {
+        "mean": [
+            47672.5625
+        ],
+        "std": [
+            27524.005859375
+        ],
+        "max": [
+            95345.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ]
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Put the object in box A into box B"}