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+*.npz filter=lfs diff=lfs merge=lfs -text
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+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp 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/long_cable_insertion_2_raw_plus_dagger2x_train.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+authors:
+- Ajay Sridhar
+task_categories:
+- robotics
+tags:
+- tsfile
+- time-series
+- timeseries
+- robotics
+- lerobot
+- arx
+- teleop
+- long-cable
+- subtask
+- dagger
+- v3
+modality:
+- timeseries
+- tabular
+pretty_name: Long Cable Insertion 2 Raw Plus DAgger 2x (TsFile)
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/long_cable_insertion_2_raw_plus_dagger2x_train.tsfile
+size_categories:
+- 10K<n<100K
+---
+
+# Long Cable Insertion 2 Raw Plus DAgger 2x (TsFile)
+
+This dataset is an Apache TsFile conversion of
+[`ajaysri/long_cable_insertion_2_raw_plus_dagger2x`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x), a LeRobot v3 ARX robot-manipulation dataset for
+long-cable routing subtasks.
+
+**Modalities: Time-series.** The converted repository contains numeric robot
+state, velocity, action, timing, episode/task tags, and mirrored source
+metadata. Camera videos remain in the original Hugging Face dataset.
+
+## Source Dataset and Author
+
+- Original dataset: [`ajaysri/long_cable_insertion_2_raw_plus_dagger2x`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x)
+- Pinned source revision: [`e539e4d3a54766126424675ec3abe08f2414a60b`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x/tree/e539e4d3a54766126424675ec3abe08f2414a60b)
+- Original author, repository owner, and uploader: [Ajay Sridhar (`ajaysri`)](https://huggingface.co/ajaysri)
+- License: Apache-2.0
+- Robot type: `arx`
+- LeRobot codebase version: `v3.0`
+- Sampling rate: 50 fps
+- Split: `train`, episodes 0 through 537
+- Source scale: 538 episodes, 70,596 frames, 3 tasks
+- Source frame layout: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
+- Source frame shards: 538
+- Source episode-metadata shards: 538
+- Paper, homepage, and completed citation: not provided by the source card
+
+The source provenance manifest reports 338 routed
+subtask episodes extracted from 114
+candidate raw HDF5 episodes, plus 200 DAgger
+episodes made as two copies of 100 source
+DAgger episodes. One raw episode was rejected during source-dataset creation
+before publication because its switch sequence failed segmentation validation;
+this TsFile conversion itself drops no published rows.
+
+## Tasks and Scale
+
+| `task_index` | Task | Episodes | Rows |
+|---:|---|---:|---:|
+| `0` | route the cable through the center router | 179 | 22,778 |
+| `1` | route the cable through the right router | 185 | 24,715 |
+| `2` | route the cable through the left router | 174 | 23,103 |
+
+The converted train split contains 70,596 rows across 538
+episode devices.
+
+## Converted Files
+
+- TsFile: `data/long_cable_insertion_2_raw_plus_dagger2x_train.tsfile`
+- Table: `long_cable_insertion_2_raw_plus_dagger2x_train`
+- Rows: 70,596
+- TsFile size: 15.19 MiB
+- Time precision: milliseconds
+- Metadata: `meta/` is mirrored from the source, with `meta/info.json` rewritten
+  to document the TsFile schema, source revision, conversion mapping, and video
+  policy.
+
+## TsFile Schema
+
+`Time` is an INT64 millisecond timestamp computed as
+`round(timestamp * 1000)`. It restarts within each episode.
+
+TAG columns:
+
+- `episode_index` — source episode number, 0 through 537
+- `task_index` — source task number, 0 through 2
+
+Scalar FIELD columns:
+
+- `frame_index` — frame number within an episode
+- `sample_index` — the source global `index` column, renamed
+
+Flattened FLOAT FIELD groups:
+
+- `observation.state[14]` -> `observation_state_0` ... `observation_state_13`
+- `observation.velocity[14]` -> `observation_velocity_0` ... `observation_velocity_13`
+- `action[14]` -> `action_0` ... `action_13`
+
+The table has 47 columns including `Time`: 2 TAG columns, 44 FIELD columns,
+and the TIME column.
+
+## Conversion Notes
+
+- The shared config-driven `lerobot` converter is used; the dataset-specific
+  Python file is a thin local orchestration and documentation entry point.
+- All 538 source frame Parquet files in the train split are merged into one
+  table-model TsFile. Filter by `episode_index` and `task_index` to select a
+  trajectory or routing subtask.
+- Vector columns are fully flattened into scalar fields. Full source prefixes
+  are preserved and `.` is replaced with `_`.
+- The source `timestamp` column is the only published numeric source column not
+  stored separately. It is redundant after the exact millisecond `Time`
+  mapping (`timestamp = Time / 1000` seconds at the source's 50 Hz cadence).
+- The source `index` column is retained as `sample_index`; `frame_index` is
+  retained unchanged.
+- No published frames, episodes, tasks, state dimensions, velocity dimensions,
+  or action dimensions are intentionally dropped.
+
+## Videos
+
+Videos are not duplicated in the converted repository. The pinned source has
+1,614 frame-aligned MP4 files in three streams:
+
+- [`videos/observation.images.video_left/`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x/tree/e539e4d3a54766126424675ec3abe08f2414a60b/videos/observation.images.video_left) — 538 MP4 files
+- [`videos/observation.images.video_overhead/`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x/tree/e539e4d3a54766126424675ec3abe08f2414a60b/videos/observation.images.video_overhead) — 538 MP4 files
+- [`videos/observation.images.video_right/`](https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x/tree/e539e4d3a54766126424675ec3abe08f2414a60b/videos/observation.images.video_right) — 538 MP4 files
+
+The source template is
+`videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`.
+Each stream contains one file for each of the 538 episodes. Numeric TsFile rows
+remain aligned with the original videos through `episode_index`, `frame_index`,
+and the source metadata under `meta/episodes/`.
+
+## Validation
+
+The generated TsFile is checked for successful Java-tool completion, non-zero
+size, table schema, and row-count equality with the staged Parquet. The expected
+and validated row count is 70,596; the source contains no duplicate
+`(episode_index, task_index, Time)` keys after millisecond conversion.
+
+## Minimal Read Example
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/long_cable_insertion_2_raw_plus_dagger2x_train.tsfile")
+print(reader.get_all_table_schemas()["long_cable_insertion_2_raw_plus_dagger2x_train"])
+reader.close()
+```
+
+## Source and License
+
+The source dataset is published by [Ajay Sridhar (`ajaysri`)](https://huggingface.co/ajaysri)
+under the Apache License 2.0 and was created with
+[LeRobot](https://github.com/huggingface/lerobot). The source card does not
+provide a paper or completed citation, so none is inferred here.

long_cable_insertion_2_raw_plus_dagger2x.yaml

@@ -0,0 +1,99 @@
+# ajaysri/long_cable_insertion_2_raw_plus_dagger2x
+# LeRobot v3 ARX long-cable routing dataset.
+# Source revision inspected on 2026-08-05:
+# e539e4d3a54766126424675ec3abe08f2414a60b
+
+hf_source: "ajaysri/long_cable_insertion_2_raw_plus_dagger2x"
+subset: null
+split: "train"
+revision: "e539e4d3a54766126424675ec3abe08f2414a60b"
+
+# Download numeric frame data, source metadata, the source card, and the
+# provenance manifest. Camera videos remain in the original repository.
+source_pattern:
+  - "data/chunk-*/*.parquet"
+  - "meta/*"
+  - "meta/**"
+  - "README.md"
+  - ".gitattributes"
+  - "long_cable_raw_plus_dagger_subtask_lerobot_v3_manifest.json"
+
+target_name: "long_cable_insertion_2_raw_plus_dagger2x"
+
+conversion:
+  mode: "script"
+  converter: "lerobot"
+  input_format: "parquet"
+  time_column: null
+  time_precision: "ms"
+  tag_columns: ["episode_index", "task_index"]
+  rename: {}
+  drop: []
+  script_params:
+    granularity: "merged"
+    split_from_meta: true
+    time_source: "timestamp"
+    fps: 50
+    table_name: "long_cable_insertion_2_raw_plus_dagger2x"
+    stream_staging: false
+
+upload:
+  mode: "single"
+  repo_id: "jzpeng/ajaysri_long_cable_insertion_2_raw_plus_dagger2x"
+
+attribution:
+  original_url: "https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x"
+  original_revision: "e539e4d3a54766126424675ec3abe08f2414a60b"
+  paper: null
+  license: "apache-2.0"
+  authors: "Ajay Sridhar (Hugging Face user ajaysri; source repository owner and uploader)"
+  original_author: "Ajay Sridhar"
+  original_author_url: "https://huggingface.co/ajaysri"
+  notes: |
+    The source card does not provide a completed homepage, paper, or citation.
+    The source repository and commit history identify `ajaysri` as the owner
+    and uploader; the public Hugging Face profile lists the full name Ajay
+    Sridhar.
+
+dataset_card:
+  pretty_name: "Long Cable Insertion 2 Raw Plus DAgger 2x (TsFile)"
+  task_description: >-
+    Route a long cable through the center, right, or left router. Each episode
+    represents one routing subtask.
+  robot_type: "arx"
+  codebase_version: "v3.0"
+  total_episodes: 538
+  total_frames: 70596
+  total_tasks: 3
+  fps: 50
+  source_shards: 538
+  source_meta_episode_shards: 538
+  source_video_files: 1614
+  source_raw_episodes: 338
+  source_dagger_episodes: 200
+  source_dagger_base_episodes: 100
+  source_raw_candidate_episodes: 114
+  source_prepublication_dropped_raw_episodes: 1
+  task_index_mapping:
+    0: "route the cable through the center router"
+    1: "route the cable through the right router"
+    2: "route the cable through the left router"
+  task_episode_counts:
+    0: 179
+    1: 185
+    2: 174
+  task_row_counts:
+    0: 22778
+    1: 24715
+    2: 23103
+  video_streams:
+    - "observation.images.video_left"
+    - "observation.images.video_overhead"
+    - "observation.images.video_right"
+  video_files_per_stream: 538
+
+local:
+  source_dir: "D:/code/py/LongCableInsertion2_raw_plus_dagger2x"
+  output_dir: "D:/code/py/LongCableInsertion2_raw_plus_dagger2x_after"
+  workdir: "D:/code/workdir/long_cable_insertion_2_raw_plus_dagger2x"
+