Datasets:

THULab
/

uniflow_put_spoon_on_rack

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
episode_index: int64
tasks: list<item: string>
  child 0, item: string
length: int64
head: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
  child 0, fx: double
  child 1, fy: double
  child 2, cx: double
  child 3, cy: double
  child 4, width: int64
  child 5, height: int64
left_wrist: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
  child 0, fx: double
  child 1, fy: double
  child 2, cx: double
  child 3, cy: double
  child 4, width: int64
  child 5, height: int64
right_wrist: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
  child 0, fx: double
  child 1, fy: double
  child 2, cx: double
  child 3, cy: double
  child 4, width: int64
  child 5, height: int64
to
{'head': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}, 'left_wrist': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}, 'right_wrist': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_index: int64
              tasks: list<item: string>
                child 0, item: string
              length: int64
              head: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
                child 0, fx: double
                child 1, fy: double
                child 2, cx: double
                child 3, cy: double
                child 4, width: int64
                child 5, height: int64
              left_wrist: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
                child 0, fx: double
                child 1, fy: double
                child 2, cx: double
                child 3, cy: double
                child 4, width: int64
                child 5, height: int64
              right_wrist: struct<fx: double, fy: double, cx: double, cy: double, width: int64, height: int64>
                child 0, fx: double
                child 1, fy: double
                child 2, cx: double
                child 3, cy: double
                child 4, width: int64
                child 5, height: int64
              to
              {'head': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}, 'left_wrist': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}, 'right_wrist': {'fx': Value('float64'), 'fy': Value('float64'), 'cx': Value('float64'), 'cy': Value('float64'), 'width': Value('int64'), 'height': Value('int64')}}
              because column names don't match

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uniflow_put_spoon_on_rack (TsFile)

Apache TsFile version of YOLO2431/uniflow_put_spoon_on_rack.

Overview

A LeRobot robot dataset recorded on a yam_bimanual arm. Task(s): Pick up the spoon on the table one by one and put them onto the rack. Each frame holds the commanded action and observed observation.state joint positions, plus camera views stored as videos in the original dataset.

Episodes: 96
Frames: 56,096
Sampling rate: 30 fps
Tasks: 1 — "Pick up the spoon on the table one by one and put them onto the rack"

Schema (TsFile structure)

All episodes share one TsFile with episode_index and task_index as TAG columns; query a single episode with WHERE episode_index = N.

Time (INT64, milliseconds) — round(timestamp * 1000); the source timestamp column is dropped (it equals Time / 1000).
episode_index (TAG) — device dimension.
task_index (TAG) — device dimension.
episode_index (INT64) — measurement.
task_index (INT64) — measurement.
frame_index (INT64) — measurement.
sample_index (INT64) — measurement.
observation_state_0 (FLOAT) — measurement.
observation_state_1 (FLOAT) — measurement.
observation_state_2 (FLOAT) — measurement.
observation_state_3 (FLOAT) — measurement.
observation_state_4 (FLOAT) — measurement.
observation_state_5 (FLOAT) — measurement.
observation_state_6 (FLOAT) — measurement.
observation_state_7 (FLOAT) — measurement.
observation_state_8 (FLOAT) — measurement.
observation_state_9 (FLOAT) — measurement.
observation_state_10 (FLOAT) — measurement.
observation_state_11 (FLOAT) — measurement.
observation_state_12 (FLOAT) — measurement.
observation_state_13 (FLOAT) — measurement.
observation_state_14 (FLOAT) — measurement.
observation_state_15 (FLOAT) — measurement.
observation_state_16 (FLOAT) — measurement.
observation_state_17 (FLOAT) — measurement.
observation_state_18 (FLOAT) — measurement.
observation_state_19 (FLOAT) — measurement.
observation_state_20 (FLOAT) — measurement.
observation_state_21 (FLOAT) — measurement.
observation_state_22 (FLOAT) — measurement.
observation_state_23 (FLOAT) — measurement.
observation_state_24 (FLOAT) — measurement.
observation_state_25 (FLOAT) — measurement.
observation_state_26 (FLOAT) — measurement.
observation_state_27 (FLOAT) — measurement.
observation_state_28 (FLOAT) — measurement.
observation_state_29 (FLOAT) — measurement.
observation_state_30 (FLOAT) — measurement.
observation_state_31 (FLOAT) — measurement.
action_0 (FLOAT) — measurement.
action_1 (FLOAT) — measurement.
action_2 (FLOAT) — measurement.
action_3 (FLOAT) — measurement.
action_4 (FLOAT) — measurement.
action_5 (FLOAT) — measurement.
action_6 (FLOAT) — measurement.
action_7 (FLOAT) — measurement.
action_8 (FLOAT) — measurement.
action_9 (FLOAT) — measurement.
action_10 (FLOAT) — measurement.
action_11 (FLOAT) — measurement.
action_12 (FLOAT) — measurement.
action_13 (FLOAT) — measurement.
action_14 (FLOAT) — measurement.
action_15 (FLOAT) — measurement.
action_16 (FLOAT) — measurement.
action_17 (FLOAT) — measurement.
action_18 (FLOAT) — measurement.
action_19 (FLOAT) — measurement.
action_20 (FLOAT) — measurement.
action_21 (FLOAT) — measurement.
action_22 (FLOAT) — measurement.
action_23 (FLOAT) — measurement.
action_24 (FLOAT) — measurement.
action_25 (FLOAT) — measurement.
action_26 (FLOAT) — measurement.
action_27 (FLOAT) — measurement.
action_28 (FLOAT) — measurement.
action_29 (FLOAT) — measurement.
action_30 (FLOAT) — measurement.
action_31 (FLOAT) — measurement.

The vector columns are flattened per joint:

action_* — commanded joints: left_pos_x, left_pos_y, left_pos_z, left_rot6d_0, left_rot6d_1, left_rot6d_2, left_rot6d_3, left_rot6d_4, left_rot6d_5, right_pos_x, right_pos_y, right_pos_z, right_rot6d_0, right_rot6d_1, right_rot6d_2, right_rot6d_3, right_rot6d_4, right_rot6d_5, left_gripper, right_gripper, left_joint_0, left_joint_1, left_joint_2, left_joint_3, left_joint_4, left_joint_5, right_joint_0, right_joint_1, right_joint_2, right_joint_3, right_joint_4, right_joint_5.
observation_state_* — observed joints: left_pos_x, left_pos_y, left_pos_z, left_rot6d_0, left_rot6d_1, left_rot6d_2, left_rot6d_3, left_rot6d_4, left_rot6d_5, right_pos_x, right_pos_y, right_pos_z, right_rot6d_0, right_rot6d_1, right_rot6d_2, right_rot6d_3, right_rot6d_4, right_rot6d_5, left_gripper, right_gripper, left_joint_0, left_joint_1, left_joint_2, left_joint_3, left_joint_4, left_joint_5, right_joint_0, right_joint_1, right_joint_2, right_joint_3, right_joint_4, right_joint_5.

Usage

Install the Apache TsFile Python SDK (pip install tsfile) and read a converted file:

from pathlib import Path
from tsfile import TsFileReader

path = Path("data/uniflow_put_spoon_on_rack.tsfile")
with TsFileReader(str(path)) as reader:
    schemas = reader.get_all_table_schemas()
    print("tables:", list(schemas))
    table_name = next(iter(schemas))
    table = schemas[table_name]
    columns = [column.get_column_name() for column in table.get_columns()]
    print("columns:", columns)
    field_names = [
        column.get_column_name()
        for column in table.get_columns()
        if column.get_column_name() not in {"Time", "time"}
    ]
    if field_names:
        with reader.query_table(table_name, field_names[:3], batch_size=1024) as result:
            batch = result.read_arrow_batch()
            if batch is not None:
                print(batch.to_pandas().head())

Source & license

Original dataset: https://huggingface.co/datasets/YOLO2431/uniflow_put_spoon_on_rack
Author / publisher: YOLO2431
License: apache-2.0
Note: camera videos are NOT included; see the original dataset.

Downloads last month: 13

Total file size:

10.7 MB