Datasets:

THUgewu
/

cable_insertion_2

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 66, 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.

Cable Insertion 2 (TsFile)

Apache TsFile version of DistantSky/cable_insertion_2.

Overview

Real-robot teleoperation demonstrations of a cable-insertion task — "insert the cable into the holder" — recorded on a hessian robot. Each episode is one demonstration with per-frame robot state, velocity, and both processed and raw actions, captured at 60 fps.

Robot: hessian (14-DOF action / state space).
Episodes: 72 demonstrations of one task ("insert the cable into the holder").
Frames: 34,350 timesteps total, recorded at 60 fps.
Source format: LeRobot v2.1.

Schema (TsFile structure)

All 72 episodes are stored in a single .tsfile using the TsFile table model.

Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each episode (round(timestamp * 1000); ~17 ms apart at 60 fps).
episode_index (TAG) — demonstration id (0–71). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task id (always 0; the dataset has one task).
frame_index (FIELD, INT64) — frame number within the episode.
sample_index (FIELD, INT64) — the source global index column.
prompt (FIELD, STRING) — the language instruction ("insert the cable into the holder"), repeated per frame.
source_action_time_s (FIELD, FLOAT) — source action timestamp in seconds.
source_raw_action_time_s (FIELD, FLOAT) — source raw-action timestamp in seconds.
observation_state_0 .. observation_state_13 (FIELD, FLOAT) — 14-D robot state.
observation_velocity_0 .. observation_velocity_13 (FIELD, FLOAT) — 14-D robot velocity.
action_0 .. action_13 (FIELD, FLOAT) — 14-D commanded action.
raw_action_0 .. raw_action_13 (FIELD, FLOAT) — 14-D raw action.

The source timestamp column is dropped because it equals Time / 1000. Camera videos and raw .npz episodes are not included in this repository (see below).

Usage

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

# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/cable_insertion_2.tsfile")
# query one episode: WHERE episode_index=0

Not included

Camera videos. The original dataset records three camera streams per episode (observation.images.video_left, observation.images.video_overhead, observation.images.video_right). These MP4 videos are not included here — they are not time-series data. Retrieve them from the original dataset under DistantSky/cable_insertion_2/videos.
Raw episodes. The original raw_episodes/*.npz files (raw unprocessed episodes) are not included; they are not tabular time-series data. See the original dataset for them.

Source & license

Original dataset: https://huggingface.co/datasets/DistantSky/cable_insertion_2
Author / publisher: DistantSky
Created with: LeRobot (codebase v2.1)
License: Apache-2.0 (inherited from the original dataset)

Downloads last month: 29

Total file size:

5.96 MB