zjt24/so100_Dataset_250_V0.1

LuckyData SO100 V0.1 (TsFile)

This dataset is an Apache TsFile conversion of luckyrobots/so100_Dataset_250_V0.1 at source revision 0556f34107df66ebb9818fb497ae0efa45dab880. The source identifies the data as LeRobot v2.1 trajectories from an SO100 robot.

Dataset Summary

• Modalities: Time-series
• Split: train
• Episodes: 250
• Frames and TsFile rows: 34,723
• Tasks: 1
• Task: Grab an object and drop it at a location.
• Sampling rate: 30 FPS
• Source frame files: 250 Parquet files
• Converted files: 1 TsFile
• Table name: so100_dataset_250_v0_1_train

The current source meta/info.json declares train: 0:250, which agrees with the 250 Parquet files converted here. The source README embeds an older train: 10:90 JSON example; this conversion follows the current metadata and the complete current source file set.

Data File

data/so100_dataset_250_v0_1_train.tsfile

TsFile Schema

The table contains one TIME column, two TAG columns, and fourteen FIELD columns.

Column	TsFile role	Type	Source mapping
Time	TIME	INT64	round(timestamp * 1000) milliseconds
episode_index	TAG	STRING	Source episode index
task_index	TAG	STRING	Source task index
frame_index	FIELD	INT64	Retained unchanged
sample_index	FIELD	INT64	Source index, renamed
action_0 ... action_5	FIELD	FLOAT	Six flattened action components
observation_state_0 ... observation_state_5	FIELD	FLOAT	Six flattened robot-state components

The six action and state components retain the source order: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper.

Conversion Notes

• All 250 episodes are merged into one train table. episode_index and task_index remain available as TAG columns for filtering.
• action and observation.state were flattened into scalar FLOAT fields without changing component order.
• Source index was renamed to sample_index.
• Source timestamp is not stored separately because it is redundant with Time / 1000 seconds.
• No numeric row was removed, resampled, or interpolated.

Videos

Videos are not downloaded, converted, or uploaded in this repository. The source camera features are observation.images.Camera 1 and observation.images.Camera 2. They remain available in the original videos tree. The retained episode, frame, task, and sample indexes provide alignment with the source media.

Python SDK Example

from pathlib import Path

from tsfile import TsFileReader

path = Path("data/so100_dataset_250_v0_1_train.tsfile")
table = "so100_dataset_250_v0_1_train"

reader = TsFileReader(str(path))
try:
    columns = [
        "episode_index",
        "task_index",
        "frame_index",
        "action_0",
        "observation_state_0",
    ]
    with reader.query_table(table, columns, batch_size=1024) as result:
        batch = result.read_arrow_batch()
        if batch is not None:
            print(batch.to_pandas().head())
finally:
    reader.close()

Source and License

• Publisher: LuckyRobots
• Source: luckyrobots/so100_Dataset_250_V0.1
• License: MIT