Datasets:

griffinlabs
/

Galaxea-Open-World-Dataset-LeRobot-v3.0

Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
                  pa_table = paj.read_json(
                      io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
                  )
                File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                  return check_status(status)
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0
              
              During handling of the above exception, another exception occurred:
              
              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/json/json.py", line 101, in _split_generators
                  pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
                             ~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
                  batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
                  examples = [ujson_loads(line) for line in original_batch.splitlines()]
                              ~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
                  return pd.io.json.ujson_loads(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
              ValueError: Expected object or value
              
              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.

Galaxea Open-World Dataset taken from OpenGalaxea/Galaxea-Open-World-Dataset, converted to LeRobot Datasets v3.0 format using lerobot.datasets.v30.convert_dataset_v21_to_v30.

Missing subsets

The subset Boil_The_Water_20250714_006 is missing due to the original files having some episodes at 62 fps, which causes the conversion script to crash with an error.

The subset Put_The_Items_Into_The_Storage_Box_20250929_002_007 is missing due to it having 7 DoF arms rather than 6 DoF.

Approximate no-torso-movement subsets

The /no-torso-subsets.txt file contains a list of 110 subsets that mostly exclude torso movement. There are still some torso movements included nonetheless. The subsets are selected by the criterion $\lVert \text{subset-level torso velocity mean} \rVert _1 + \lVert \text{subset-level torso velocity standard deviation} \rVert _1 < 0.03$ .

The 0.03 threshold was chosen by trial-and-error with manual inspection / eyeballing of subsets near those values.

Dirty episodes

Among the no-torso-movement subsets, some subsets contain episodes where we encountered errors loading the corresponding video.

To document this so that those episodes may be skipped during training, we added a meta/removed_episodes.json file to each affected subset's directory.

We did not check outside of the no-torso-movement subsets.

Task config

The no-torso-movement subsets also each have a task_config.json file with two fields:

"coarse_task_as_main_task": whether the subset's coarse task is deemed good enough to replace the fine task as the main task, and have the fine task be subtasks instead.
"rename_coarse_task": when used as the main task, the coarse task text should be replaced with this text if not null. If null, make no change.

Arm-and-gripper-only subsets

The /arm-and-gripper-only-subsets.txt file contains a list of 76 subsets that additionally mostly exclude chassis movement. There are still some chassis movements included nonetheless. The subsets are selected by the criterion: $\lVert \text{subset-level chassis velocity mean} \rVert _1 + \lVert \text{subset-level chassis velocity standard deviation} \rVert _1 < 0.03$ .

This 0.03 threshold was also chosen by trial-and-error with manual inspection / eyeballing of subsets near those values.

Downloads last month: 11,210

Total file size:

2.56 TB