Datasets:

THUgewu
/

so101_sim_pick_place_v1

pretty_name: SO101 Sim Pick Place V1 (TsFile)
tags:
  - robotics
  - lerobot
  - so101
  - tsfile
  - modality:timeseries
  - timeseries
  - format:tsfile
modality:
  - tabular
  - timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/so101_sim_pick_place_v1.tsfile
size_categories:
  - 10K<n<100K

SO101 Sim Pick Place V1 (TsFile)

This dataset is an Apache TsFile conversion of the Hugging Face dataset BrandonAL/so101_sim_pick_place_v1.

Modalities: Time-series. The converted repository contains numeric robot state/action time-series and source metadata. Camera videos remain in the original Hugging Face dataset.

Source Dataset

Source dataset: BrandonAL/so101_sim_pick_place_v1
Source format: LeRobot v3.0
Robot type: so101
Split: train (0:51)
Episodes: 51
Frames: 18,000
Tasks: 1
Sampling rate: 30 fps
Source numeric data path: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
Source video path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

Converted Data

TsFile path: data/so101_sim_pick_place_v1.tsfile
Table name: so101_sim_pick_place_v1
Rows: 18,000
TsFile files: 1
Time precision: milliseconds
TAG columns: episode_index, task_index

Schema

Time is the TsFile time column.

TAG columns:

episode_index
task_index

FIELD columns:

frame_index
sample_index
observation_state_0 through observation_state_5
action_0 through action_5

The six observation_state_* and action_* values correspond to the SO-101 joint/gripper dimensions listed by the source metadata: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, and gripper.

Conversion Notes

Time = round(timestamp * 1000) in milliseconds and restarts per episode.
The source timestamp column is dropped because it is redundant with Time / 1000.
The source index column is renamed to sample_index.
observation.state is flattened to observation_state_0..5.
action is flattened to action_0..5.
Flattened vector values are stored as single-precision FLOAT fields.
Video features observation.images.top and observation.images.wrist are not uploaded here. Use the original dataset for visual data: https://huggingface.co/datasets/BrandonAL/so101_sim_pick_place_v1/tree/main/videos
Source meta/ files are mirrored, with meta/info.json updated to describe the converted TsFile artifact and video policy.

Read Example

# Read data/so101_sim_pick_place_v1.tsfile with the Apache TsFile SDK.
# Query one episode by filtering the TAG column, for example:
#   WHERE episode_index = 0