README.md

metadata

license: apache-2.0
task_categories:
  - robotics
  - time-series-forecasting
language:
  - en
tags:
  - lerobot
  - robotics
  - reachy2
  - imitation-learning
  - action-state
  - video
  - tsfile
pretty_name: reachy_wave TsFile

reachy_wave

This repository contains a TsFile conversion of the original Hugging Face dataset aliberts/reachy_wave.

Source Dataset

The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:

When you see someone, look at them and wave

Source structure:

data/chunk-000/episode_000000.parquet
data/chunk-000/episode_000001.parquet
data/chunk-000/episode_000002.parquet
data/chunk-000/episode_000003.parquet
data/chunk-000/episode_000004.parquet
meta/episodes.jsonl
meta/info.json
meta/stats.json
meta/tasks.jsonl
videos/chunk-000/observation.images.head_left/episode_000000.mp4
...
videos/chunk-000/observation.images.head_left/episode_000004.mp4

Source metadata:

• Robot type: reachy2
• Episodes: 5
• Frames: 1,380
• Tasks: 1
• FPS: 15
• Videos: 5
• Video key: observation.images.head_left

Converted Structure

data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile
data/chunk-000/episode_000002.tsfile
data/chunk-000/episode_000003.tsfile
data/chunk-000/episode_000004.tsfile
meta/episodes.jsonl
meta/info.json
meta/stats.json
meta/tasks.jsonl
videos/chunk-000/observation.images.head_left/episode_000000.mp4
...
videos/chunk-000/observation.images.head_left/episode_000004.mp4

The meta/ and videos/ directories are mirrored unchanged from the source repository for traceability. The TsFile conversion uses only the Parquet data.

Source Schema and Conversion

The source Parquet rows contain:

Column	Source type	Conversion
action	float32[22]	flattened to action_0 ... action_21
observation.state	float32[22]	flattened to state_0 ... state_21
timestamp	float32 seconds	preserved as episode_timestamp_s; also used for TsFile Time
frame_index	int64	FIELD
episode_index	int64	FIELD and source for episode_id TAG
index	int64	renamed to sample_index FIELD
task_index	int64	FIELD and source for task_id TAG

TsFile details:

• Output files: data/chunk-000/episode_000000.tsfile through data/chunk-000/episode_000004.tsfile
• Table name: reachy_wave
• TAG columns: episode_id, task_id
• Time precision: milliseconds
• Time: round(timestamp * 1000)
• Row count preserved: 1,380 source rows -> 1,380 TsFile rows across 5 per-episode files

Feature Names

Both action and observation.state use the same 22 dimensions from the source metadata:

0  neck_yaw.pos
1  neck_pitch.pos
2  neck_roll.pos
3  r_shoulder_pitch.pos
4  r_shoulder_roll.pos
5  r_elbow_yaw.pos
6  r_elbow_pitch.pos
7  r_wrist_roll.pos
8  r_wrist_pitch.pos
9  r_wrist_yaw.pos
10 r_gripper.pos
11 l_shoulder_pitch.pos
12 l_shoulder_roll.pos
13 l_elbow_yaw.pos
14 l_elbow_pitch.pos
15 l_wrist_roll.pos
16 l_wrist_pitch.pos
17 l_wrist_yaw.pos
18 l_gripper.pos
19 mobile_base.vx
20 mobile_base.vy
21 mobile_base.vtheta

Viewer Note

Hugging Face Dataset Viewer may not preview .tsfile files because the hosted viewer environment must have TsFile support installed. Download the per-episode TsFile files under data/chunk-000/ and read them with a TsFile-compatible reader.

Citation

Please cite the original dataset:

@dataset{reachy_wave,
  author = {aliberts},
  title = {reachy_wave},
  publisher = {Hugging Face},
  url = {https://huggingface.co/datasets/aliberts/reachy_wave}
}