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Datasets:
VGalaxies666
/
AIDAS_franka_pnp_100

Tasks:
Robotics
Tags:
LeRobot
time-series
tsfile
robotics
modality:timeseries
Dataset card Files
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Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
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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AIDAS_franka_pnp_100 (TsFile)

TsFile conversion of the LeRobot-style Franka pick-and-place dataset broxKIM/AIDAS_franka_pnp_100.

  • Original dataset: https://huggingface.co/datasets/broxKIM/AIDAS_franka_pnp_100
  • Author: broxKIM
  • Robot type: franka
  • Created with: LeRobot-style metadata (codebase_version v3.0)
  • Modalities: Time-series
  • Dropped / not included: the source timestamp column (redundant with Time) and the camera video streams (not uploaded; see Conversion Notes).

Dataset Description

This dataset contains Franka pick-and-place demonstrations in a single train split.

Robot type franka
Tasks 4 (task_index=0..3)
Episodes 98
Frames / TsFile rows 60,918
Sampling rate 15 fps
Original cameras observation.images.cam_front, observation.images.cam_wrist

Each frame records Cartesian state, gripper state, joint state, target state, the combined 20-dimensional observation state, and the 7-dimensional action.

Conversion Notes

Converted to TsFile with the generic LeRobot converter.

  • One TsFile for the whole train split. All 98 episodes are stored in data/aidas_franka_pnp_100.tsfile. The source columns episode_index and task_index are TAG columns (the TsFile device dimension). Query one episode with WHERE episode_index=N, or one task with WHERE task_index=K.
  • Vector columns flattened to single-precision FLOAT, preserving the source column name (. -> _, element index appended):
    • observation.state.cartesian [6] -> observation_state_cartesian_0 .. observation_state_cartesian_5
    • observation.state.joints [7] -> observation_state_joints_0 .. observation_state_joints_6
    • observation.state.target [6] -> observation_state_target_0 .. observation_state_target_5
    • observation.state [20] -> observation_state_0 .. observation_state_19
    • action [7] -> action_0 .. action_6
  • Scalar state kept. observation.state.gripper is renamed to observation_state_gripper; index is renamed to sample_index.
  • Time. Time = round(timestamp * 1000) ms, restarting per episode. The source timestamp column is dropped because it equals Time / 1000 seconds. frame_index is kept.
  • Videos are NOT included in this repository. The original camera streams remain in the source dataset: https://huggingface.co/datasets/broxKIM/AIDAS_franka_pnp_100/tree/main/videos
  • meta/ is mirrored from the source with meta/info.json rewritten to describe the converted TsFile schema and video policy. Aside from the redundant timestamp column noted above, no numeric time-series rows are dropped.

Schema

Column Role Type
Time TIME (ms) INT64
episode_index TAG INT64
task_index TAG INT64
frame_index FIELD INT64
sample_index FIELD INT64
observation_state_gripper FIELD FLOAT
observation_state_cartesian_0 .. observation_state_cartesian_5 FIELD FLOAT
observation_state_joints_0 .. observation_state_joints_6 FIELD FLOAT
observation_state_target_0 .. observation_state_target_5 FIELD FLOAT
observation_state_0 .. observation_state_19 FIELD FLOAT
action_0 .. action_6 FIELD FLOAT

Read Example 

# Read data/aidas_franka_pnp_100.tsfile with the Apache TsFile SDK.
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