Add TsFile (converted from lerobot/svla_so100_stacking)

.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/svla_so100_stacking_train.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,130 @@
+---
+license: apache-2.0
+pretty_name: SVLA SO100 Stacking (TsFile)
+task_categories:
+- robotics
+tags:
+- tsfile
+- time-series
+- robotics
+- lerobot
+- so100
+- modality:timeseries
+modality:
+- timeseries
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/svla_so100_stacking_train.tsfile
+---
+
+# SVLA SO100 Stacking (TsFile)
+
+This dataset is a TsFile conversion of the Hugging Face dataset
+[`lerobot/svla_so100_stacking`](https://huggingface.co/datasets/lerobot/svla_so100_stacking).
+It contains the numeric LeRobot frame data for an `so100` robot dataset. The
+source dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+Modalities: Time-series. The original dataset also contains videos; those video
+files are not mirrored in this converted repository.
+
+## Source dataset
+
+- Original dataset: [`lerobot/svla_so100_stacking`](https://huggingface.co/datasets/lerobot/svla_so100_stacking)
+- Source commit used for conversion: `476c6810591b5e75b385d6e8d9c648525a153eb9`
+- License: `apache-2.0`
+- LeRobot codebase version: `v3.0`
+- Robot type: `so100`
+- Published task metadata: one task index (`0`); the source task table does not
+  include a text label
+
+## Dataset scale
+
+- Episodes: 56
+- Frames / converted TsFile rows: 22,956
+- Tasks: 1
+- Split: `train` (`0:56`)
+- Sampling rate: 30 FPS
+- Converted files: 1 TsFile file (429,148 bytes)
+- Original video streams: `observation.images.top` and
+  `observation.images.wrist`
+
+## Converted layout
+
+```text
+data/svla_so100_stacking_train.tsfile
+meta/
+  episodes/chunk-000/file-000.parquet
+  info.json
+  stats.json
+  tasks.parquet
+```
+
+The uploaded `meta/info.json` mirrors the source metadata and adds a
+`tsfile_conversion` object describing the source-to-TsFile mappings.
+
+## TsFile schema
+
+Table name: `svla_so100_stacking_train`
+
+- `Time`: millisecond timestamp, computed as `round(timestamp * 1000)`.
+- TAG columns: `episode_index`, `task_index`.
+- FIELD columns: `frame_index`, `sample_index`, `action_0` to `action_5`, and
+  `observation_state_0` to `observation_state_5`.
+
+The six `action_*` and six `observation_state_*` fields preserve the source
+joint order:
+
+```text
+main_shoulder_pan
+main_shoulder_lift
+main_elbow_flex
+main_wrist_flex
+main_wrist_roll
+main_gripper
+```
+
+## Conversion notes
+
+- Source vector column `action` is flattened to `action_0` through `action_5`.
+- Source vector column `observation.state` is flattened to
+  `observation_state_0` through `observation_state_5`.
+- Source column `timestamp` is mapped to the TsFile `Time` column in
+  milliseconds and is not retained as a separate field because it is
+  equivalent to `Time / 1000` seconds.
+- Source column `index` is renamed to `sample_index`; `frame_index` is retained.
+- Source video features `observation.images.top` and
+  `observation.images.wrist` are omitted from this TsFile conversion. The
+  original videos remain available in the source dataset under
+  [`videos/`](https://huggingface.co/datasets/lerobot/svla_so100_stacking/tree/main/videos).
+
+## Minimal read example
+
+```python
+import pyarrow as pa
+from tsfile import ColumnCategory, TsFileReader
+
+path = "data/svla_so100_stacking_train.tsfile"
+table_name = "svla_so100_stacking_train"
+
+reader = TsFileReader(path)
+schema = reader.get_all_table_schemas()[table_name]
+columns = [
+    column.get_column_name()
+    for column in schema.get_columns()
+    if column.get_category() in (ColumnCategory.FIELD, ColumnCategory.TAG)
+]
+
+batches = []
+with reader.query_table(table_name, columns, batch_size=65536) as result_set:
+    while True:
+        batch = result_set.read_arrow_batch()
+        if batch is None:
+            break
+        if batch.num_rows:
+            batches.append(batch)
+
+table = pa.concat_tables(batches)
+print(table.to_pandas().head())
+```

data/svla_so100_stacking_train.tsfile

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+oid sha256:ca110bc23ea6d37d8952bc91a1697ac72384ef2c6e55ee47e5c7cfe297f54afd
+size 429148

meta/episodes/chunk-000/file-000.parquet

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+oid sha256:cfc0b957c013bb5a903a6555bb585e774277fcb5d2fe03e0b218c1717fc81bd7
+size 74946

meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "so100",
+  "total_episodes": 56,
+  "total_frames": 22956,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:56"
+  },
+  "data_path": "data/svla_so100_stacking_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"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_4": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "action_5": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    }
+  },
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 500,
+  "video_path_original": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "lerobot/svla_so100_stacking",
+    "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "converted_data_path": "data/svla_so100_stacking_train.tsfile",
+    "table_name": "svla_so100_stacking_train",
+    "granularity": "per_split",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 22956,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
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+        "action_0",
+        "action_1",
+        "action_2",
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+        "action_5"
+      ],
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5"
+      ]
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+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
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+    "omitted_features": [
+      "observation.images.top",
+      "observation.images.wrist"
+    ],
+    "original_video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+        "names": [
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+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
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+        "names": [
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+    },
+    "original_video_source": "https://huggingface.co/datasets/lerobot/svla_so100_stacking/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

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