The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
raise ValueError(
...<2 lines>...
)
ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Hang The Cup — UF850 Quest VR Raw Data
Raw UF850 teleoperation trajectories collected with a Quest VR controller and two Intel RealSense cameras. Published trajectories are not resampled, cropped, action-normalized, or converted to RLDS/LeRobot. Camera frames were captured as YUYV and stored as JPEG at collection time.
Task and prompt
Every episode uses the same English task instruction:
hang the yellow cup on the cup rack
The prompt is an intended collection instruction, not an independent success label.
Task layout
Dataset summary
| Item | Value |
|---|---|
| Episodes | 30 (episode_000–episode_029) |
| Transition steps | 29,854 |
| JPEG images | 59,708 (29,854 per camera) |
| Nominal transition rate | 50 Hz |
| Observed per-episode write rate | 38.70–46.97 Hz |
| Nominal transition time | 9.95 minutes |
| Recorded wall-clock duration | 11.14 minutes |
| Image size | 960×540 |
The nominal action grid is 50 Hz. The observed write rate includes robot state reads and asynchronous disk/camera timing; the raw sequence is not resampled.
Cameras
| File | Role | RealSense serial | Capture mode |
|---|---|---|---|
cam_0.jpg |
wrist | 845112070404 |
960×540 YUYV @ 60 FPS |
cam_1.jpg |
external | 215222078407 |
960×540 YUYV @ 60 FPS |
Repository layout
Each episode is a deterministic, uncompressed USTAR archive. JPEG and JSON payload bytes are unchanged from the validated source ZIP.
README.md
dataset_manifest.json
episode_index.json
layout_external.jpg
SHA256SUMS
episodes/episode_000.tar
...
State, action, and units
Each step stores synchronized images and robot state at time t, with
action[t] = state[t + 1] - state[t]; actions are not divided by dt.
TCP XYZ is in millimetres; TCP Euler angles and six joint angles are in degrees;
gripper values use the raw xArm scale. Downstream conversion must recompute an
endpoint action when changing the temporal sampling rate.
Validation
All episodes passed contiguous numbering, required-file, full JPEG decoding, 960×540 image-size, finite JSON, exact next-current action alignment, monotonic timestamp, camera synchronization, and episode metadata checks. There are 1,783 adjacent camera-frame reuse warnings, expected when the nominal 50 Hz state stream samples asynchronous 60 FPS cameras.
SHA256SUMS covers every published payload. Public dataset repository:
CASE-Lab/uf850-vr-teleop-hang-the-cup-raw.
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