---
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - tabular
modality:
  - timeseries
  - tabular
pretty_name: G1 Dex3 Block Stacking TsFile
size_categories:
  - 100K<n<1M
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/unitreerobotics_g1_dex3_blockstacking.tsfile
---

# G1 Dex3 Block Stacking TsFile

This repository is an Apache TsFile conversion of
[`unitreerobotics/G1_Dex3_BlockStacking_Dataset`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset),
a LeRobot manipulation dataset for stacking three cubic blocks on a desktop in
red, yellow, and blue order.

## Source dataset

- Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset
- Author / repository owner: Unitree Robotics (`unitreerobotics`)
- Source-tree contributors shown by Hugging Face: `Henry-Ellis`, `lv-1`
- License: Apache-2.0
- Robot: Unitree G1, 7-DOF dual-arm, with three-finger Dex3 hands
- Recording frequency: 30 Hz
- Cameras: two head-mounted streams (`cam_left_high`, `cam_right_high`) and two wrist-mounted streams (`cam_left_wrist`, `cam_right_wrist`)
- Resolution: 640x480 RGB; source video codec is AV1
- Split: `train` (`0:301` episodes)
- Episodes / rows / tasks: 301 / 281,196 / 1
- Source data shards: 1 chunk / 1 Parquet file; source card reports 1,204 video files
- Source frame file: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`

The task description in the original card is to stack three 5 cm cubic blocks on
black tape on the desktop from bottom to top in red, yellow, and blue order.

## Converted files

- TsFile: `data/unitreerobotics_g1_dex3_blockstacking.tsfile`
- Table: `unitreerobotics_g1_dex3_blockstacking`
- Rows: 281,196
- Episodes: 301
- Episode files: 1 merged table-model TsFile
- Time precision: milliseconds
- Source metadata: `meta/tasks.parquet`, `meta/episodes/...`, and `meta/stats.json` are retained; `meta/info.json` documents the conversion.

## Schema

| Role | Columns |
| --- | --- |
| TIME | `Time` (`INT64` timestamp, milliseconds) |
| TAG / device metadata | `episode_index`, `task_index` (original source names) |
| FIELD | `frame_index`, `sample_index` (renamed from source `index`) |
| FIELD FLOAT | `observation_state_0` ... `observation_state_27` |
| FIELD FLOAT | `action_0` ... `action_27` |

`Time = round(timestamp * 1000)`. The source timestamp is in seconds and
restarts at zero for each episode, so `Time` is monotonic within each
(`episode_index`, `task_index`) device. The source `timestamp` column is dropped
after synthesis because it is redundant with `Time / 1000`.

Vector columns are flattened row-major while preserving source prefixes:

- `observation.state[28]` -> `observation_state_0` ... `observation_state_27`
- `action[28]` -> `action_0` ... `action_27`

The source `index` is renamed to `sample_index`; `frame_index`,
`episode_index`, and `task_index` are preserved. No numeric state/action rows
are dropped. Image/video feature columns are not written into TsFile because
the local source Parquet contains numeric references only.

## Encoding and compression

The compact TsFile profile is used to avoid producing a file larger than the
source Parquet:

- FLOAT/DOUBLE: `GORILLA` + `LZ4`
- INT32/INT64: `TS_2DIFF` + `LZ4`
- Time: `TS_2DIFF` + `LZ4`
- BOOLEAN: `RLE` + `LZ4` (no BOOLEAN fields are present in this dataset)
- TAG columns: TsFile table/device TAG mechanism

The staged Parquet and local validation report are kept outside the upload set
under `.conversion_work/`.

## Videos and attribution

Videos are not included in this TsFile repository. They remain in the original
Hugging Face dataset at:

- [`videos/observation.images.cam_left_high`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_left_high)
- [`videos/observation.images.cam_left_wrist`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_left_wrist)
- [`videos/observation.images.cam_right_high`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_right_high)
- [`videos/observation.images.cam_right_wrist`](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset/tree/main/videos/observation.images.cam_right_wrist)

The source metadata video pattern is
`videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`.
`episode_index` and `frame_index` remain unchanged in the TsFile so consumers
can align a time-series row with its original video frame.

## Read example

```python
import sys
sys.path.insert(0, r"D:\\code\\.deps")
from tsfile import TsFileReader

path = r"D:\\code\\py\\unitreerobotics_G1_Dex3_BlockStacking_Dataset\\data\\unitreerobotics_g1_dex3_blockstacking.tsfile"
reader = TsFileReader(path)
table = reader.get_all_table_schemas()["unitreerobotics_g1_dex3_blockstacking"]
columns = [c.get_column_name() for c in table.get_columns() if c.get_column_name() != "Time"]
with reader.query_table("unitreerobotics_g1_dex3_blockstacking", columns, batch_size=65536) as result:
    batch = result.read_arrow_batch()
```

## Citation

Please cite the original Unitree Robotics dataset repository and the LeRobot
project when using this conversion. No separate paper or BibTeX entry was
provided in the source dataset card.