Datasets:

THUgewu
/

so101-close-lower-drawer

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.

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so101-close-lower-drawer (TsFile)

Apache TsFile version of aiden-li/so101-close-lower-drawer.

Overview

A single-arm robot manipulation dataset recorded with an SO-101 follower arm (so101_follower, 6 DOF). The task in every episode is to close the lower drawer. It was created with LeRobot (codebase version v2.1).

Scale: 59 episodes, 25,013 frames total.
Sampling rate: 30 fps.
Robot: so101_follower — single SO-101 arm, 6 DOF (5 joints + gripper).
Task: a single task, task_index = 0 — "Close the lower drawer".

Schema (TsFile structure)

Time (INT64, milliseconds) — frame timestamp, round(timestamp * 1000). It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
episode_index (TAG) — which of the 59 episodes the row belongs to.
task_index (TAG) — the task identifier (always 0 here). Both tags form the TsFile device dimension; query one episode with WHERE episode_index=0.
frame_index (FIELD, INT64) — frame number within the episode.
sample_index (FIELD, INT64) — the original global index column.
action_0 .. action_5 (FIELD, FLOAT) — the commanded target positions, 6 values: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
observation_state_0 .. observation_state_5 (FIELD, FLOAT) — the measured joint/gripper positions, same 6-element layout as action.

The source timestamp column is dropped (it equals Time ÷ 1000 seconds). Vector columns are flattened single-precision FLOAT (. → _, element index appended, the observation. prefix stripped).

Usage

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

Notes

Camera video streams are not included in this repository. The original dataset has 2 camera views (observation.images.top 1280×720, observation.images.ego 640×480) under its videos/ directory — see the original dataset for them.
meta/ from the source is mirrored alongside the data. Aside from the redundant timestamp column noted above, no columns or rows are dropped.

Source & license

Original dataset: https://huggingface.co/datasets/aiden-li/so101-close-lower-drawer
Author / publisher: aiden-li
Paper: not declared by the original dataset.
License: apache-2.0 (from the original dataset card).

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