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THULab/hardwarize_first_ds1

Hardwarize first_ds1 (TsFile) Apache TsFile version of Hardwarize/first_ds1. Overview A LeRobot dataset of keyboard-teleoperated episodes on the simulated Franka Panda cube-pick task PandaPickCubeKeyboard-v0. Each frame records the full robot state, the end-effector delta action, and the reinforcement-learning reward / done / penalty signals, sampled at 50 Hz. Task: PandaPickCubeKeyboard-v0 (Franka Panda pick-cube, keyboard teleop). Episodes: 100 trajectories.… See the full description on the dataset page: https://huggingface.co/datasets/THULab/hardwarize_first_ds1.

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Hardwarize first_ds1 (TsFile)

Apache TsFile version of `Hardwarize/first_ds1`.

Overview

A LeRobot dataset of keyboard-teleoperated episodes on the simulated Franka Panda cube-pick task PandaPickCubeKeyboard-v0. Each frame records the full robot state, the end-effector delta action, and the reinforcement-learning reward / done / penalty signals, sampled at 50 Hz.

  • —Task: PandaPickCubeKeyboard-v0 (Franka Panda pick-cube, keyboard teleop).
  • —Episodes: 100 trajectories.
  • —Frames: 18,167 total time steps.
  • —Tasks: 1.
  • —Sampling rate: 50 fps.

Schema (TsFile structure)

  • —Time (INT64, milliseconds) — per-frame timestamp, restarting at 0 for each episode (round(timestamp * 1000)).
  • —episode_index (TAG) — trajectory id; query one episode with WHERE episode_index=0.
  • —task_index (TAG) — task id (always 0 here; the single task).
  • —frame_index (FIELD, INT64) — frame counter within the episode.
  • —sample_index (FIELD, INT64) — the source global index.
  • —observation_state_0 .. observation_state_17 (FIELD, FLOAT) — the 18-dim robot state vector.
  • —action_0 .. action_3 (FIELD, FLOAT) — end-effector delta action: delta_x_ee, delta_y_ee, delta_z_ee, gripper_delta.
  • —next_reward (FIELD, FLOAT) — reward for the transition.
  • —next_done (FIELD, BOOLEAN) — episode-termination flag (true on the last frame of each episode).
  • —complementary_info_discrete_penalty (FIELD, FLOAT) — discrete penalty signal.

The source vector columns observation.state[18] and action[4] are flattened to single-precision FLOAT columns. The source timestamp column is dropped because it equals Time / 1000 seconds.

Usage

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

Source & license

  • —Original dataset: https://huggingface.co/datasets/Hardwarize/first_ds1
  • —Author / publisher: Hardwarize
  • —Created with LeRobot
  • —License: apache-2.0
  • —Camera videos (observation.images.front, observation.images.wrist) are not included in this repository. They remain in the original dataset under videos/: https://huggingface.co/datasets/Hardwarize/first_ds1/tree/main/videos