Datasets:

zjt24
/

picko_v17

Tasks:

Robotics

Tags:

License:

Dataset card Files Files and versions

xet

Community

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.

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.

Picko V17 TsFile

This dataset is an Apache TsFile conversion of Philmat/picko-v17, a merged LeRobot dataset created from Philmat/picko-v14, Philmat/picko-v15, and Philmat/picko-v16 using the LeRobot Data Studio merge tool.

Modalities: Time-series. The converted repository contains numeric robot observations, actions, frame timing, task/episode tags, and source metadata. Camera videos remain in the original Hugging Face dataset.

Source Dataset

Source dataset: Philmat/picko-v17
Source datasets: Philmat/picko-v14, Philmat/picko-v15, Philmat/picko-v16
License: Apache-2.0
Robot type: so100_follower
LeRobot codebase version: v2.1
Split: train
Scale: 170 episodes, 105,829 frames, 1 task, 30 fps
Source frame layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
Source video layout: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Task 0: Pick up blue cube and place it into the round yellow ring

Converted Files

TsFile: data/picko_v17.tsfile
Table: picko_v17
Rows: 105,829
Episodes: 170
Tasks: 1
Time precision: milliseconds
Metadata: meta/ is mirrored from the source, with meta/info.json updated to describe the converted TsFile artifact.

Schema

Time is synthesized as round(timestamp * 1000) milliseconds and restarts within each episode.

TAG columns:

episode_index
task_index

Scalar FIELD columns:

frame_index
sample_index, renamed from the source index

Flattened FLOAT FIELD groups:

action[6] -> action_0 ... action_5
observation.state[6] -> observation_state_0 ... observation_state_5

The six vector elements follow the source joint order: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos.

Conversion Notes

The generic lerobot converter was used.
All 170 source episode Parquet files are merged into one TsFile table. Use episode_index and task_index TAG filters to select an episode or task.
Vector columns are flattened to scalar TsFile fields. Source column prefixes are preserved, with . replaced by _.
The source timestamp column is dropped after Time synthesis because it is redundant with Time / 1000 seconds.
The source index column is renamed to sample_index.
Source camera video streams are not included in this repository: observation.images.context and observation.images.wrist. They remain available in the original dataset under videos/.
No rows and no numeric time-series fields are intentionally dropped other than the redundant timestamp column noted above.

Validation

The converted TsFile was read back with the Apache TsFile Python SDK. The TsFile metadata row count and query readback both matched the staged Parquet: 105,829 rows.

Usage

from tsfile import TsFileReader

path = "data/picko_v17.tsfile"
reader = TsFileReader(path)

schemas = reader.get_all_table_schemas()
table_name = "picko_v17"
columns = [
    column.get_column_name()
    for column in schemas[table_name].get_columns()
    if column.get_column_name() not in {"Time"}
]

with reader.query_table(table_name, columns, batch_size=65536) as result:
    batch = result.read_arrow_batch()

Downloads last month: 6

Total file size:

2.76 MB