---
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.