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README.md

@@ -79,11 +79,23 @@ episode devices.
 - 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 size: 10.93 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.
+
+## Compact Encoding Profile
+
+The TsFile is written with the native table writer and the following explicit
+type-aware encodings to keep the binary smaller than the source frame Parquet:
+
+- `FLOAT`, `DOUBLE`: `GORILLA` + `LZ4`
+- `INT32`, `INT64`: `TS_2DIFF` + `LZ4`
+- `Time`: `TS_2DIFF` + `LZ4`
+- `BOOLEAN`: `RLE` + `LZ4` (no BOOLEAN FIELD occurs in this dataset)
+- `TAG`: TsFile table TAG/device segments; tag values are not duplicated as
+  ordinary FIELD measurements
 
 ## TsFile Schema
 
@@ -111,8 +123,9 @@ 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.
+- The shared config-driven `lerobot` converter is used with its native Python
+  table writer; 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.
@@ -143,9 +156,9 @@ 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
+The generated TsFile is checked for successful native-writer 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

long_cable_insertion_2_raw_plus_dagger2x.yaml

@@ -36,10 +36,20 @@ conversion:
     fps: 50
     table_name: "long_cable_insertion_2_raw_plus_dagger2x"
     stream_staging: false
+    # Native TsFile table writer with explicit compact encodings.
+    tsfile_writer: "python"
+    encoding_profile:
+      float: "GORILLA + LZ4"
+      double: "GORILLA + LZ4"
+      int32: "TS_2DIFF + LZ4"
+      int64: "TS_2DIFF + LZ4"
+      time: "TS_2DIFF + LZ4"
+      boolean: "RLE + LZ4"
+      tag: "TsFile table TAG/device mechanism"
 
 upload:
   mode: "single"
-  repo_id: "jzpeng/ajaysri_long_cable_insertion_2_raw_plus_dagger2x"
+  repo_id: "jzpeng/long_cable_insertion_2_raw_plus_dagger2x"
 
 attribution:
   original_url: "https://huggingface.co/datasets/ajaysri/long_cable_insertion_2_raw_plus_dagger2x"
@@ -96,4 +106,3 @@ 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"
-