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THULab/eval3_90_permutation

eval3_90_permutation (TsFile) Apache TsFile version of robot-learning-group47/eval3_90_permutation. Overview A LeRobot (v3.0) robot-manipulation evaluation dataset collected on a so_follower arm. Each episode records a pick-and-place rollout — placing a coke can onto one of three printed portraits — sampled frame by frame as commanded action and measured arm state. Robot: so_follower (6-DoF arm). Tasks (3): "Place the coke on Taylor Swift." "Place the coke on… See the full description on the dataset page: https://huggingface.co/datasets/THULab/eval3_90_permutation.

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eval390permutation (TsFile)

Apache TsFile version of `robot-learning-group47/eval3_90_permutation`.

Overview

A LeRobot (v3.0) robot-manipulation evaluation dataset collected on a so_follower arm. Each episode records a pick-and-place rollout — placing a coke can onto one of three printed portraits — sampled frame by frame as commanded action and measured arm state.

  • —Robot: so_follower (6-DoF arm).
  • —Tasks (3):
  • —"Place the coke on Taylor Swift."
  • —"Place the coke on Barack Obama."
  • —"Place the coke on Yann LeCun."
  • —Scale: 90 episodes, 20,221 frames, single train split.
  • —Sampling rate: 15 fps.
  • —Videos: one front camera stream (observation.images.front) in the original dataset; not included here (see below).

Schema (TsFile structure)

  • —Time (INT64, milliseconds) — round(timestamp * 1000), restarts per episode.
  • —episode_index (TAG) — episode device dimension; query one episode with WHERE episode_index=0.
  • —task_index (TAG) — task device dimension (3 tasks: 0/1/2 as listed above).
  • —frame_index (FIELD, INT64) — original per-episode frame counter.
  • —sample_index (FIELD, INT64) — source index column, renamed.
  • —action_0..action_5 (FIELD, FLOAT) — commanded 6-DoF action.
  • —observation_state_0..observation_state_5 (FIELD, FLOAT) — measured 6-DoF arm state.

Vector columns are flattened by preserving the source name (. → _) and appending the element index. The source timestamp column is dropped because it equals Time ÷ 1000 seconds.

Attachments

  • —eval3_episode_permutation_map.csv / eval3_episode_permutation_map.json — the evaluation episode permutation map, mirrored as-is from the source dataset.

Videos

The front camera video stream is not included in this TsFile repository. It remains in the original dataset under `videos/`.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

  • —Original dataset: https://huggingface.co/datasets/robot-learning-group47/eval390permutation
  • —Author / publisher: robot-learning-group47
  • —Created with: LeRobot (codebase v3.0)
  • —License: apache-2.0