Hugging Face's logo

Datasets:
smilegeng
/
reachy_wave

Tasks:
Robotics
Time Series Forecasting
Modalities:
Video
Time-series
Languages:
English
Tags:
lerobot
robotics
reachy2
imitation-learning
action-state
video
License:
Dataset card Files
xet
 Community
smilegeng commited on
Commit
35f95c4
·
verified ·
1 Parent(s): 255bfe8

Use named TsFile artifact layout and update metadata

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. README.md +143 -143
  3. data/reachy_wave.tsfile +3 -0
  4. meta/info.json +155 -136
.gitattributes CHANGED
@@ -59,3 +59,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
61
  data/train.tsfile filter=lfs diff=lfs merge=lfs -text
 
 
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
61
  data/train.tsfile filter=lfs diff=lfs merge=lfs -text
62
+ data/reachy_wave.tsfile filter=lfs diff=lfs merge=lfs -text
README.md CHANGED
@@ -1,143 +1,143 @@
1
- ---
2
- license: apache-2.0
3
- task_categories:
4
- - robotics
5
- - time-series-forecasting
6
- language:
7
- - en
8
- tags:
9
- - lerobot
10
- - robotics
11
- - reachy2
12
- - imitation-learning
13
- - action-state
14
- - video
15
- - tsfile
16
- pretty_name: reachy_wave TsFile
17
- ---
18
-
19
- # reachy_wave
20
-
21
- This repository contains a TsFile conversion of the original Hugging Face
22
- dataset [`aliberts/reachy_wave`](https://huggingface.co/datasets/aliberts/reachy_wave).
23
-
24
- ## Source Dataset
25
-
26
- The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:
27
-
28
- > When you see someone, look at them and wave
29
-
30
- Source structure:
31
-
32
- ```text
33
- data/chunk-000/episode_000000.parquet
34
- data/chunk-000/episode_000001.parquet
35
- data/chunk-000/episode_000002.parquet
36
- data/chunk-000/episode_000003.parquet
37
- data/chunk-000/episode_000004.parquet
38
- meta/episodes.jsonl
39
- meta/info.json
40
- meta/stats.json
41
- meta/tasks.jsonl
42
- videos/chunk-000/observation.images.head_left/episode_000000.mp4
43
- ...
44
- videos/chunk-000/observation.images.head_left/episode_000004.mp4
45
- ```
46
-
47
- Source metadata:
48
-
49
- - Robot type: `reachy2`
50
- - Episodes: 5
51
- - Frames: 1,380
52
- - Tasks: 1
53
- - FPS: 15
54
- - Videos: 5
55
- - Video key: `observation.images.head_left`
56
-
57
- ## Converted Structure
58
-
59
- ```text
60
- data/train.tsfile
61
- meta/episodes.jsonl
62
- meta/info.json
63
- meta/stats.json
64
- meta/tasks.jsonl
65
- videos/chunk-000/observation.images.head_left/episode_000000.mp4
66
- ...
67
- videos/chunk-000/observation.images.head_left/episode_000004.mp4
68
- ```
69
-
70
- The `meta/` and `videos/` directories are mirrored unchanged from the source
71
- repository for traceability. The TsFile conversion uses only the Parquet data.
72
-
73
- ## Source Schema and Conversion
74
-
75
- The source Parquet rows contain:
76
-
77
- | Column | Source type | Conversion |
78
- |---|---|---|
79
- | `action` | float32[22] | flattened to `action_0` ... `action_21` |
80
- | `observation.state` | float32[22] | flattened to `state_0` ... `state_21` |
81
- | `timestamp` | float32 seconds | preserved as `episode_timestamp_s`; also used for TsFile `Time` |
82
- | `frame_index` | int64 | FIELD |
83
- | `episode_index` | int64 | FIELD and source for `episode_id` TAG |
84
- | `index` | int64 | renamed to `sample_index` FIELD |
85
- | `task_index` | int64 | FIELD and source for `task_id` TAG |
86
-
87
- TsFile details:
88
-
89
- - Output file: `data/train.tsfile`
90
- - Table name: `reachy_wave`
91
- - TAG columns: `episode_id`, `task_id`
92
- - Time precision: milliseconds
93
- - `Time`: `round(timestamp * 1000)`
94
- - Row count preserved: 1,380 source rows -> 1,380 TsFile rows
95
-
96
- ## Feature Names
97
-
98
- Both `action` and `observation.state` use the same 22 dimensions from the source
99
- metadata:
100
-
101
- ```text
102
- 0 neck_yaw.pos
103
- 1 neck_pitch.pos
104
- 2 neck_roll.pos
105
- 3 r_shoulder_pitch.pos
106
- 4 r_shoulder_roll.pos
107
- 5 r_elbow_yaw.pos
108
- 6 r_elbow_pitch.pos
109
- 7 r_wrist_roll.pos
110
- 8 r_wrist_pitch.pos
111
- 9 r_wrist_yaw.pos
112
- 10 r_gripper.pos
113
- 11 l_shoulder_pitch.pos
114
- 12 l_shoulder_roll.pos
115
- 13 l_elbow_yaw.pos
116
- 14 l_elbow_pitch.pos
117
- 15 l_wrist_roll.pos
118
- 16 l_wrist_pitch.pos
119
- 17 l_wrist_yaw.pos
120
- 18 l_gripper.pos
121
- 19 mobile_base.vx
122
- 20 mobile_base.vy
123
- 21 mobile_base.vtheta
124
- ```
125
-
126
- ## Viewer Note
127
-
128
- Hugging Face Dataset Viewer may not preview `.tsfile` files because the hosted
129
- viewer environment must have TsFile support installed. Download `data/train.tsfile`
130
- and read it with a TsFile-compatible reader.
131
-
132
- ## Citation
133
-
134
- Please cite the original dataset:
135
-
136
- ```bibtex
137
- @dataset{reachy_wave,
138
- author = {aliberts},
139
- title = {reachy_wave},
140
- publisher = {Hugging Face},
141
- url = {https://huggingface.co/datasets/aliberts/reachy_wave}
142
- }
143
- ```
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ - time-series-forecasting
6
+ language:
7
+ - en
8
+ tags:
9
+ - lerobot
10
+ - robotics
11
+ - reachy2
12
+ - imitation-learning
13
+ - action-state
14
+ - video
15
+ - tsfile
16
+ pretty_name: reachy_wave TsFile
17
+ ---
18
+
19
+ # reachy_wave
20
+
21
+ This repository contains a TsFile conversion of the original Hugging Face
22
+ dataset [`aliberts/reachy_wave`](https://huggingface.co/datasets/aliberts/reachy_wave).
23
+
24
+ ## Source Dataset
25
+
26
+ The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:
27
+
28
+ > When you see someone, look at them and wave
29
+
30
+ Source structure:
31
+
32
+ ```text
33
+ data/chunk-000/episode_000000.parquet
34
+ data/chunk-000/episode_000001.parquet
35
+ data/chunk-000/episode_000002.parquet
36
+ data/chunk-000/episode_000003.parquet
37
+ data/chunk-000/episode_000004.parquet
38
+ meta/episodes.jsonl
39
+ meta/info.json
40
+ meta/stats.json
41
+ meta/tasks.jsonl
42
+ videos/chunk-000/observation.images.head_left/episode_000000.mp4
43
+ ...
44
+ videos/chunk-000/observation.images.head_left/episode_000004.mp4
45
+ ```
46
+
47
+ Source metadata:
48
+
49
+ - Robot type: `reachy2`
50
+ - Episodes: 5
51
+ - Frames: 1,380
52
+ - Tasks: 1
53
+ - FPS: 15
54
+ - Videos: 5
55
+ - Video key: `observation.images.head_left`
56
+
57
+ ## Converted Structure
58
+
59
+ ```text
60
+ data/reachy_wave.tsfile
61
+ meta/episodes.jsonl
62
+ meta/info.json
63
+ meta/stats.json
64
+ meta/tasks.jsonl
65
+ videos/chunk-000/observation.images.head_left/episode_000000.mp4
66
+ ...
67
+ videos/chunk-000/observation.images.head_left/episode_000004.mp4
68
+ ```
69
+
70
+ The `meta/` and `videos/` directories are mirrored unchanged from the source
71
+ repository for traceability. The TsFile conversion uses only the Parquet data.
72
+
73
+ ## Source Schema and Conversion
74
+
75
+ The source Parquet rows contain:
76
+
77
+ | Column | Source type | Conversion |
78
+ |---|---|---|
79
+ | `action` | float32[22] | flattened to `action_0` ... `action_21` |
80
+ | `observation.state` | float32[22] | flattened to `state_0` ... `state_21` |
81
+ | `timestamp` | float32 seconds | preserved as `episode_timestamp_s`; also used for TsFile `Time` |
82
+ | `frame_index` | int64 | FIELD |
83
+ | `episode_index` | int64 | FIELD and source for `episode_id` TAG |
84
+ | `index` | int64 | renamed to `sample_index` FIELD |
85
+ | `task_index` | int64 | FIELD and source for `task_id` TAG |
86
+
87
+ TsFile details:
88
+
89
+ - Output file: `data/reachy_wave.tsfile`
90
+ - Table name: `reachy_wave`
91
+ - TAG columns: `episode_id`, `task_id`
92
+ - Time precision: milliseconds
93
+ - `Time`: `round(timestamp * 1000)`
94
+ - Row count preserved: 1,380 source rows -> 1,380 TsFile rows
95
+
96
+ ## Feature Names
97
+
98
+ Both `action` and `observation.state` use the same 22 dimensions from the source
99
+ metadata:
100
+
101
+ ```text
102
+ 0 neck_yaw.pos
103
+ 1 neck_pitch.pos
104
+ 2 neck_roll.pos
105
+ 3 r_shoulder_pitch.pos
106
+ 4 r_shoulder_roll.pos
107
+ 5 r_elbow_yaw.pos
108
+ 6 r_elbow_pitch.pos
109
+ 7 r_wrist_roll.pos
110
+ 8 r_wrist_pitch.pos
111
+ 9 r_wrist_yaw.pos
112
+ 10 r_gripper.pos
113
+ 11 l_shoulder_pitch.pos
114
+ 12 l_shoulder_roll.pos
115
+ 13 l_elbow_yaw.pos
116
+ 14 l_elbow_pitch.pos
117
+ 15 l_wrist_roll.pos
118
+ 16 l_wrist_pitch.pos
119
+ 17 l_wrist_yaw.pos
120
+ 18 l_gripper.pos
121
+ 19 mobile_base.vx
122
+ 20 mobile_base.vy
123
+ 21 mobile_base.vtheta
124
+ ```
125
+
126
+ ## Viewer Note
127
+
128
+ Hugging Face Dataset Viewer may not preview `.tsfile` files because the hosted
129
+ viewer environment must have TsFile support installed. Download `data/reachy_wave.tsfile`
130
+ and read it with a TsFile-compatible reader.
131
+
132
+ ## Citation
133
+
134
+ Please cite the original dataset:
135
+
136
+ ```bibtex
137
+ @dataset{reachy_wave,
138
+ author = {aliberts},
139
+ title = {reachy_wave},
140
+ publisher = {Hugging Face},
141
+ url = {https://huggingface.co/datasets/aliberts/reachy_wave}
142
+ }
143
+ ```
data/reachy_wave.tsfile ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:afcd567b76e00bed39794464617ad0118482da67844570e089601f5fb0f252b2
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+ size 201489
meta/info.json CHANGED
@@ -1,136 +1,155 @@
1
- {
2
- "codebase_version": "v2.0",
3
- "robot_type": "reachy2",
4
- "total_episodes": 5,
5
- "total_frames": 1380,
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- "total_tasks": 1,
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- "total_videos": 5,
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- "total_chunks": 1,
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- "chunks_size": 1000,
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- "fps": 15,
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- "splits": {
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- "train": "0:5"
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- },
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- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
- "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
- "features": {
17
- "action": {
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- "dtype": "float32",
19
- "shape": [
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- 22
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- ],
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- "names": [
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- "neck_yaw.pos",
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- "neck_pitch.pos",
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- "r_shoulder_pitch.pos",
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- "r_shoulder_roll.pos",
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- "r_wrist_roll.pos",
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- "r_wrist_pitch.pos",
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- "r_wrist_yaw.pos",
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- "r_gripper.pos",
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- "l_shoulder_pitch.pos",
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- "l_shoulder_roll.pos",
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- "l_wrist_roll.pos",
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- "l_wrist_pitch.pos",
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- "l_wrist_yaw.pos",
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- "l_gripper.pos",
42
- "mobile_base.vx",
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- "mobile_base.vy",
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- "mobile_base.vtheta"
45
- ]
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- },
47
- "observation.state": {
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- "dtype": "float32",
49
- "shape": [
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- 22
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- ],
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- "names": [
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- "neck_yaw.pos",
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- "neck_pitch.pos",
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- "neck_roll.pos",
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- "r_shoulder_pitch.pos",
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- "r_shoulder_roll.pos",
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- "r_elbow_yaw.pos",
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- "r_elbow_pitch.pos",
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- "r_wrist_roll.pos",
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- "r_wrist_pitch.pos",
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- "r_wrist_yaw.pos",
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- "r_gripper.pos",
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- "l_shoulder_pitch.pos",
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- "l_shoulder_roll.pos",
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- "l_elbow_yaw.pos",
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- "l_elbow_pitch.pos",
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- "l_wrist_roll.pos",
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- "l_wrist_pitch.pos",
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- "l_wrist_yaw.pos",
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- "l_gripper.pos",
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- "mobile_base.vx",
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- "mobile_base.vy",
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- "mobile_base.vtheta"
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- ]
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- },
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- "observation.images.head_left": {
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- "dtype": "video",
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- "shape": [
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- ],
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- "index": {
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- ],
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- "names": null
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- }
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- }
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "reachy2",
4
+ "total_episodes": 5,
5
+ "total_frames": 1380,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:5"
13
+ },
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+ "data_path": "data/reachy_wave.tsfile",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 22
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+ ],
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+ "names": [
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+ "neck_yaw.pos",
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+ "neck_pitch.pos",
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+ "neck_roll.pos",
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+ "r_shoulder_pitch.pos",
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+ "r_shoulder_roll.pos",
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+ "r_elbow_yaw.pos",
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+ "r_elbow_pitch.pos",
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+ "r_wrist_roll.pos",
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+ "r_wrist_pitch.pos",
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+ "r_wrist_yaw.pos",
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+ "r_gripper.pos",
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+ "l_shoulder_pitch.pos",
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+ "l_shoulder_roll.pos",
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+ "l_elbow_yaw.pos",
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+ "l_elbow_pitch.pos",
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+ "l_wrist_roll.pos",
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+ "l_wrist_pitch.pos",
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+ "l_wrist_yaw.pos",
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+ "l_gripper.pos",
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+ "mobile_base.vx",
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+ "mobile_base.vy",
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+ "mobile_base.vtheta"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": [
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+ "neck_yaw.pos",
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+ "neck_pitch.pos",
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+ "neck_roll.pos",
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+ "r_shoulder_pitch.pos",
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+ "r_shoulder_roll.pos",
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+ "r_elbow_yaw.pos",
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+ "r_elbow_pitch.pos",
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+ "r_wrist_roll.pos",
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+ "r_wrist_pitch.pos",
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+ "r_wrist_yaw.pos",
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+ "r_gripper.pos",
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+ "l_shoulder_pitch.pos",
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+ "l_shoulder_roll.pos",
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+ "l_elbow_yaw.pos",
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+ "l_elbow_pitch.pos",
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+ "l_wrist_roll.pos",
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+ "l_wrist_pitch.pos",
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+ "l_wrist_yaw.pos",
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+ "l_gripper.pos",
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+ "mobile_base.vx",
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+ "mobile_base.vy",
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+ "mobile_base.vtheta"
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+ ]
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+ "observation.images.head_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 720,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ ],
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+ },
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+ "dtype": "int64",
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ },
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+ "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
137
+ "tsfile_conversion": {
138
+ "source_dataset": "aliberts/reachy_wave",
139
+ "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
140
+ "converted_data_path": "data/reachy_wave.tsfile",
141
+ "table_name": "reachy_wave",
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+ "time_precision": "ms",
143
+ "time_column": "Time = round(timestamp * 1000)",
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+ "tag_columns": [
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+ "episode_id",
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+ "task_id"
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+ ],
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+ "row_count": 1380,
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+ "vector_columns_flattened": {
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+ "observation.state": "state_0..state_21",
151
+ "action": "action_0..action_21"
152
+ },
153
+ "notes": "meta/ and videos/ are mirrored from the source repository; only Parquet data is converted to TsFile."
154
+ }
155
+ }