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Datasets:
THULab
/
andlyu_bb_randomgrab_1_aug_train

Tasks:
Robotics
Modalities:
Time-series
Size:
100K<n<1M
Tags:
LeRobot
tsfile
timeseries
format:tsfile
Dataset card Files
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Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "tsfile/tsfile_py_cpp.pyx", line 567, in tsfile.tsfile_py_cpp.tsfile_reader_new_c
              tsfile.exceptions.FileOpenError: 28: 
              
              The above exception was the direct cause of the following exception:
              
              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/tsfile/tsfile.py", line 271, in _split_generators
                  scan = self._scan_metadata(all_files)
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 318, in _scan_metadata
                  with self._open_reader(file) as reader:
                       ~~~~~~~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 742, in _open_reader
                  return TsFileReader(file)
                File "tsfile/tsfile_reader.pyx", line 323, in tsfile.tsfile_reader.TsFileReaderPy.__init__
              SystemError: <class '_weakrefset.WeakSet'> returned a result with an exception set
              
              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.

bb_randomgrab_1_aug_train (TsFile)

Apache TsFile version of andlyu/bb_randomgrab_1_aug_train, a LeRobot robot manipulation dataset created with LeRobot.

Modalities: Time-series. The original dataset also contains robot camera videos; those videos are not included in this converted repository and remain available from the original Hugging Face dataset.

Overview

A LeRobot v2.1 SO-100 follower dataset recording random-grasp demonstrations. Each row is one frame of a robot episode, with the robot's joint state and the commanded action recorded as fixed-size vectors.

  • Scale: 590 episodes, 136,540 frames, 1 task.
  • Sampling rate: 30 fps.
  • Robot: so100_follower.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000), restarting for each episode.
  • episode_index, task_index (TAG, INT64) — episode and task device dimensions; query one episode with WHERE episode_index=0.
  • frame_index, sample_index (FIELD, INT64) — frame position and source row index (source index renamed to sample_index).
  • observation_state_0..5 (FIELD, FLOAT) — flattened observation.state (6 joints).
  • action_0..5 (FIELD, FLOAT) — flattened action (6 commanded motors).

The source timestamp column is represented by Time and not retained as a separate field. Vector columns are flattened to scalar FLOAT fields with their full source-column prefix and an element index. The camera video streams are not included; they remain available in the original dataset.

Usage

Read data/bb_randomgrab_1_aug_train.tsfile with the Apache TsFile Java or Python SDK. All episodes share one table; use the TAG columns to select an episode or task.

Source & license

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