codebase_version string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | omx_f | 50 | 50,989 | 1 | 102 | 1 | 1,000 | 30 | {
"train": "0:50"
} | data/put_drivers_in_bin.tsfile | {
"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"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "IMsubin/put_drivers_in_bin",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/put_drivers_in_bin.tsfile",
"table_name": "put_drivers_in_bin",
"granularity": "merged",
"time_precision": "ms",
"time_mapping": {
"s... |
Put Drivers In Bin (TsFile)
Apache TsFile version of IMsubin/put_drivers_in_bin.
Overview
A robot-arm manipulation dataset in the LeRobot v2.1 format, recorded on an
omx_f arm. The single task is to put drivers (screwdrivers) into a bin. Each
record is one control frame within a demonstration episode, holding the arm's
joint state and the commanded joint action.
- Scale: 256 episodes, 244,580 frames total (≈ 955 frames per episode on average).
- Sampling rate: 30 fps.
- Tasks: 1 — "put drivers in bin".
- Robot:
omx_farm (5 joints + gripper).
Note: the source
data/directory contains 256 episodes, while the sourcemeta/files only describe the first 50 (info.json reports 50 episodes / 50,989 frames). All 256 episodes are included in this TsFile conversion.
Schema (TsFile structure)
- Time (INT64, milliseconds) —
round(timestamp * 1000), restarting at 0 for each episode. - episode_index (TAG) — source episode id (0–255).
- task_index (TAG) — source task id (always 0 here).
- frame_index (FIELD, INT64) — frame position within the episode.
- sample_index (FIELD, INT64) — the source global
indexcolumn, renamed. - observation_state_0 .. observation_state_5 (FIELD, FLOAT) — the 6-D joint state (joint1–5 + gripper_joint_1), flattened.
- action_0 .. action_5 (FIELD, FLOAT) — the 6-D joint action (joint1–5 + gripper_joint_1), flattened.
All 256 episodes share a single .tsfile; episode_index and task_index are
the device (TAG) dimensions. Query one episode with WHERE episode_index=0.
Vector columns are flattened keeping the source name (observation.state →
observation_state_0..5, action → action_0..5). The source timestamp
column is dropped because it equals Time / 1000 seconds; frame_index is kept.
Usage
Read the .tsfile files with the Apache TsFile Java or Python SDK.
Source & license
- Original dataset: https://huggingface.co/datasets/IMsubin/put_drivers_in_bin
- Author / publisher: IMsubin (Hugging Face)
- Camera videos (
observation.images.wrist_cam,observation.images.top_cam, 480×640 RGB @ 30 fps) are not included in this repository; see the original dataset'svideos/directory for them. - License: not declared by the original dataset; please defer to the original.
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