zjt24/dexterious_ee

Dexterious EE (TsFile)

This dataset is an Apache TsFile conversion of Beable/dexterious_ee. It stores the numeric LeRobot frame data as one TsFile table while preserving the source metadata. The source camera videos are not mirrored in this converted repository; they remain in the original dataset under videos/.

Source Dataset

• Original dataset: Beable/dexterious_ee
• Source commit: 88f573a60a320c6b49e7435fb3fc2fc6b9256086
• Author/owner: Beable
• License: not declared in the source dataset card at conversion time
• LeRobot codebase version: v3.0
• Robot type: r1_humanoid
• Task: robot_arm_control
• Source split: train: 0:40
• Scale: 40 episodes, 27,237 frames, 1 task
• Sampling rate: 10 fps
• Source video stream: observation.images.rgb, 360x640x3, H.264, 10 fps

TsFile Data

• TsFile path: data/dexterious_ee.tsfile
• Table name: dexterious_ee
• Rows: 27,237
• Metadata: meta/ is mirrored from the source, with meta/info.json updated to describe the converted TsFile schema and video policy.

Schema

Column	TsFile role	Type	Notes
Time	TIME	INT64	Milliseconds from round(timestamp * 1000)
episode_index	TAG	INT64	Source episode identifier
task_index	TAG	INT64	Source task identifier
frame_index	FIELD	INT64	Source frame index, retained
sample_index	FIELD	INT64	Source index, renamed to avoid ambiguity
observation_state_0 ... observation_state_16	FIELD	FLOAT	Flattened source observation.state vector
action_0 ... action_16	FIELD	FLOAT	Flattened source action vector

The 17-element vector order for both observation.state and action is: x, y, z, roll, pitch, yaw, thumb_joint_roll_r, index_proximal_joint_r, middle_proximal_joint_r, ring_proximal_joint_r, little_proximal_joint_r, thumb_proximal_joint_r, index_proximal_joint_r_1, middle_proximal_joint_r_1, ring_proximal_joint_r_1, little_proximal_joint_r_1, thumb_proximal_joint_r_1.

Conversion Notes

• Time is synthesized from source timestamp in integer milliseconds.
• Source timestamp is dropped as a separate field because it is redundant with Time / 1000 seconds.
• Source index is renamed to sample_index.
• Vector columns are flattened by preserving the full source name, replacing . with _, and appending the element index.
• Source video feature observation.images.rgb and files under videos/ are omitted from this converted repository. Use the original dataset for video playback and frame alignment.
• No numeric rows were intentionally dropped during conversion.

Validation

• pipeline.py validate passed for data/dexterious_ee.tsfile.
• TsFile metadata row count: 27,237.
• TsFile query readback rows: 27,237.
• Staged Parquet rows: 27,237.

Minimal Read Example

from tsfile import TsFileReader

path = "data/dexterious_ee.tsfile"
table = "dexterious_ee"
fields = ["frame_index", "sample_index", "action_0", "observation_state_0"]

with TsFileReader(path) as reader:
    with reader.query_table(table, fields) as result:
        for row in result:
            print(row)
            break