Datasets:

THUgewu
/

soarm101-feeding-nuts

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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SO-ARM101 Feeding Nuts (TsFile)

Apache TsFile version of HCIS-Lab/soarm101-feeding-nuts.

Overview

Teleoperation demonstrations of a "Feed Nuts" manipulation task recorded on an SO-ARM101 follower arm. Each episode is one demonstration with per-frame 6-DOF joint position observations and actions, captured at 30 fps.

Robot: SO-ARM101 follower (6-DOF arm, robot_type = so101_follower).
Episodes: 80 demonstrations of one task ("Feed Nuts").
Frames: 74,355 timesteps total, recorded at 30 fps.
Source format: LeRobot v3.0.

Schema (TsFile structure)

All 80 episodes are stored in the TsFile table model, using episode_index and task_index as TAG (device) dimensions.

Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each episode (round(timestamp * 1000); ~33 ms apart at 30 fps).
episode_index (TAG) — demonstration id (0–79). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task id (always 0; the dataset has one task, "Feed Nuts").
frame_index (FIELD, INT64) — frame number within the episode.
sample_index (FIELD, INT64) — the source global index column.
observation_state_0 .. observation_state_5 (FIELD, FLOAT) — 6-DOF observed joint positions (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
action_0 .. action_5 (FIELD, FLOAT) — 6-DOF commanded joint positions, same ordering as the state.

The source timestamp column is dropped because it equals Time / 1000. The converted table is stored across multiple .tsfile shards (data/soarm101_feeding_nuts_*.tsfile); together they hold all 74,355 rows. Camera videos are not included in this repository (see below).

Usage

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

# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/soarm101_feeding_nuts_1.tsfile")
# query one episode: WHERE episode_index=0

Videos

The original dataset records two camera streams per episode (observation.images.wrist, observation.images.side). These MP4 videos are not included here — they are not time-series data. Retrieve them from the original dataset under HCIS-Lab/soarm101-feeding-nuts/videos.

Source & license

Original dataset: https://huggingface.co/datasets/HCIS-Lab/soarm101-feeding-nuts
Author / publisher: HCIS-Lab
Created with: LeRobot (codebase v3.0)
License: Apache-2.0 (inherited from the original dataset)

Downloads last month: 27

Total file size:

2.59 MB