Add TsFile (converted from unitreerobotics/G1_Dex1_Clean_Table)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/unitreerobotics_G1_Dex1_Clean_Table.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,109 @@
 ---
 license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - tsfile
+  - timeseries
+  - tabular
+modality:
+  - timeseries
+  - tabular
+  - video
+pretty_name: G1 Dex1 Clean Table TsFile
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: data/unitreerobotics_G1_Dex1_Clean_Table.tsfile
+size_categories:
+  - 100K<n<1M
 ---
+
+# G1 Dex1 Clean Table — Apache TsFile conversion
+
+This repository is a compact Apache TsFile representation of the
+[`unitreerobotics/G1_Dex1_Clean_Table`](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Clean_Table)
+LeRobot dataset. It contains the robot state/action time series and episode/task
+metadata. The source camera videos are intentionally not copied here.
+
+## Source dataset and attribution
+
+- **Publisher/authors:** Unitree Robotics; dataset contributors shown by Hugging Face are `wangcong` and `wangcong627`.
+- **License:** Apache-2.0.
+- **Homepage:** [UnifoLM-VLA-0](https://unigen-x.github.io/unifolm-vla.github.io/).
+- **Task:** organize and tidy items on a table (7-DOF dual-arm G1, gripper end effectors).
+- **Acquisition:** 30 Hz; 640×480 images; approximately 20–40 seconds per operation.
+- **Citation/paper:** the original dataset card does not provide a BibTeX citation or paper reference.
+
+The source has one `train` split with 200 episodes, 265,701 rows and one task.
+There are 200 source Parquet episode files in `data/chunk-000/` and 800 source
+video files (four streams × 200 episodes). The original video layout is:
+
+```
+videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
+```
+
+For this dataset, `video_key` is one of
+`observation.images.cam_left_high`, `cam_right_high`, `cam_left_wrist`, or
+`cam_right_wrist`. See the [original videos directory](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Clean_Table/tree/main/videos).
+Videos remain in the original Hugging Face dataset and are **not included** in
+this TsFile repository; align them to rows with `episode_index` and
+`frame_index`.
+
+## Converted artifact
+
+- **TsFile:** `data/unitreerobotics_G1_Dex1_Clean_Table.tsfile`
+- **Table:** `unitreerobotics_G1_Dex1_Clean_Table` (the Python SDK exposes the normalized lower-case table name)
+- **Rows:** 265,701
+- **Episodes/devices:** 200
+- **Time precision:** integer milliseconds
+- **Source Parquet shards:** 200 episode files, merged into one TsFile
+
+### Schema
+
+| Category | Columns |
+| --- | --- |
+| TIME | `Time` (`INT64`, ms) |
+| TAG/device | `episode_index` (`INT64`), `task_index` (`INT64`) |
+| FIELD scalars | `frame_index`, `sample_index` (`INT64`); four gripper scalars (`FLOAT`) |
+| FIELD vectors | `observation.left_arm`/`right_arm` (7 each), `observation.left_ee`/`right_ee` (6 each), `observation.body` (29), and matching `action.*` vectors, flattened to scalar `*_0` … `*_{N-1}` FLOAT fields |
+
+Dots in source names are replaced by underscores while preserving the full
+prefix (for example, `observation.left_arm` →
+`observation_left_arm_0..observation_left_arm_6`). The source `index` is
+renamed to `sample_index`.
+
+## Conversion details
+
+- `Time = round(timestamp * 1000)` with millisecond precision. `timestamp` is
+  dropped because it is redundant (`Time / 1000` seconds); `frame_index` is kept.
+- Rows are sorted by `episode_index`, `task_index`, then `Time`; `Time` is
+  monotonic within each episode and restarts from zero at the first frame.
+- `episode_index` and `task_index` are stored as TsFile TAG/device dimensions,
+  not duplicated as ordinary fields.
+- Numeric codec profile: FLOAT/DOUBLE → **GORILLA**, INT32/INT64 and Time →
+  **TS_2DIFF**, all with **LZ4** compression. No BOOLEAN source fields exist in
+  this dataset; the configured BOOLEAN policy is RLE + LZ4.
+- Dropped/omitted source data: only redundant `timestamp` is dropped from the
+  tabular rows; four video columns are omitted from TsFile and remain at the
+  source URL above. No numeric rows or measurements are intentionally removed.
+
+## Reading
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/unitreerobotics_G1_Dex1_Clean_Table.tsfile")
+table = next(iter(reader.get_all_table_schemas()))
+columns = [c.get_column_name() for c in reader.get_all_table_schemas()[table].get_columns()
+           if c.get_column_name() != "Time"]
+with reader.query_table(table, columns, batch_size=65536) as result:
+    batch = result.read_arrow_batch()
+```
+
+## Local conversion and validation files
+
+The dataset-specific script is `D:\\code\\scripts\\convert_unitreerobotics_G1_Dex1_Clean_Table.py` and
+the config is `D:\\code\\config\\unitreerobotics_G1_Dex1_Clean_Table.yaml`. Local validation
+reports are kept under `conversion_reports/`; they are not part of the upload set.

data/unitreerobotics_G1_Dex1_Clean_Table.tsfile

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+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.cam_left_high",
+      "observation.images.cam_right_high",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_wrist"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.cam_left_high": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_high": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_left_wrist": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_wrist": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Clean_Table/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
+    "video_streams": [
+      "observation.images.cam_left_high",
+      "observation.images.cam_right_high",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_wrist"
+    ],
+    "original_authors": ["Unitree Robotics", "wangcong", "wangcong627"],
+    "codec_profile": {
+      "float": "GORILLA",
+      "double": "GORILLA",
+      "int32": "TS_2DIFF",
+      "int64": "TS_2DIFF",
+      "time": "TS_2DIFF",
+      "boolean": "RLE",
+      "compression": "LZ4"
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Organize and tidy the items on the table."}