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Datasets:
jzpeng
/
aloha_mobile_chair

Tasks:
Robotics
Size:
100K<n<1M
ArXiv:
Tags:
tsfile
time-series
robotics
modality:timeseries
library:datasets
library:pandas
License:
Dataset card Files
xet
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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 71, 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.

ALOHA Mobile Chair (TsFile)

Apache TsFile version of lerobot/aloha_mobile_chair. Modalities: Time-series.

Overview

This Mobile ALOHA dataset contains demonstrations for pushing the chairs in front of a desk until they are placed against it.

Dataset Scale

  • 55 episodes, 110,000 frames, one task, sampled at 50 fps.
  • The train split contains 110,000 TsFile rows in data/aloha_mobile_chair_train.tsfile.

Conversion details

Time is round(timestamp * 1000) in milliseconds. The source timestamp column is therefore not stored as a separate FIELD; frame_index is retained and source index is named sample_index. Camera videos are not included in this time-series repository and remain in the original dataset.

Schema (TsFile structure)

  • Time (INT64, milliseconds) is the per-episode sample time.
  • episode_index and task_index are TAG columns identifying the device series.
  • frame_index, sample_index, and next_done are INT64 FIELD columns.
  • observation_state_0 through _13, observation_effort_0 through _13, and action_0 through _13 are FLOAT FIELD columns for the 14 ALOHA motors.

For example, select one device with WHERE episode_index='0' AND task_index='0'.

Usage

Read data/aloha_mobile_chair_train.tsfile with the Apache TsFile Java or Python SDK.

Source & license

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