Datasets:

THULab
/

paszea_so100_lego

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.

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SO100 LEGO TsFile

Apache TsFile edition of paszea/so100_lego, a LeRobot v2.1 SO100 robot dataset for "Grasp a lego and put it in the basket." Numeric trajectories are stored in one table-model TsFile.

Source And Attribution

Original author and repository owner: Xun Liu (paszea)
License: Apache-2.0
Task: Grasp a lego and put it in the basket.
Split: train; 50 episodes, 37,770 frames, 1 task, sampled at 30 FPS, from 50 source Parquet shards.
The source card does not provide a homepage, paper, or completed BibTeX citation.

Dataset Contents

The file data/paszea_so100_lego.tsfile contains 37,770 rows across 50 episode/task devices. Time is round(timestamp * 1000) in milliseconds and restarts at zero for each episode. The source timestamp field is omitted because it is equivalent to Time / 1000 seconds.

Column	Role	Type	Source mapping
`Time`	TIME	INT64 milliseconds	`round(timestamp * 1000)`
`episode_index`, `task_index`	TAG	STRING	Original INT64 identifiers
`frame_index`	FIELD	INT64	Preserved frame position
`sample_index`	FIELD	INT64	Renamed from source `index`
`action_0` ... `action_5`	FIELD	FLOAT	Flattened from `action[6]`
`observation_state_0` ... `observation_state_5`	FIELD	FLOAT	Flattened from `observation.state[6]`

Vector prefixes are preserved and dots are replaced with underscores. The six dimensions retain the source order: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper. No trajectory rows, episodes, tasks, action dimensions, or state dimensions are removed.

Source Videos

Videos are not included in this repository. They remain in the original Hugging Face dataset under videos/chunk-000. The two source streams are observation.images.laptop and observation.images.phone, with 50 MP4 files per stream (100 files, 944,007,049 bytes total). The source template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4; use episode_index and frame_index to align each numeric row with the corresponding 30 FPS frames.

Read Example

from tsfile import TsFileReader

reader = TsFileReader("data/paszea_so100_lego.tsfile")
with reader.query_table(
    "paszea_so100_lego",
    ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"],
    batch_size=1024,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

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