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Datasets:
zjt24
/
pnd_adam_u_wipe_board

Tasks:
Robotics
ArXiv:
Tags:
lerobot
vla
tsfile
time-series
License:
Dataset card Files
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.

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PND Adam-U Wipe Board

This dataset is a TsFile conversion of the Hugging Face dataset BeingBeyond/PND_Adam-U_wipe-board. The source dataset is part of the training data for Being-H0.5, produced by BeingBeyond.

Modalities: Time-series. The original dataset also contains robot camera videos; those videos are not included in this converted repository and remain available from the original Hugging Face dataset.

Source Dataset

Task: Wipe the whiteboard clean with a brush.

Converted Files

  • TsFile data: data/pnd_adam_u_wipe_board.tsfile
  • Mirrored metadata: meta/
  • Table name: pnd_adam_u_wipe_board
  • Time precision: milliseconds
  • Converted row count: 67,182
  • Source episode shard count: 100 Parquet files

The original source data path is data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet. The converted TsFile path is data/pnd_adam_u_wipe_board.tsfile.

Schema

Time is synthesized as round(timestamp * 1000) and restarts within each episode, matching the source LeRobot timestamp semantics.

TAG columns:

  • episode_index
  • task_index

FIELD columns:

  • frame_index
  • sample_index (renamed from source index)
  • observation_state_0 to observation_state_30
  • action_0 to action_30

The source feature metadata names the 31 observation state dimensions as qpos_0 to qpos_30 and the 31 action dimensions as action_0 to action_30.

Conversion Notes

The source observation.state[31] and action[31] vector columns are flattened into scalar FLOAT fields. Dots in source column names are replaced with underscores, so observation.state becomes observation_state_0..30.

The source timestamp column is not retained as a separate field because it is redundant with Time / 1000 seconds. The source index column is renamed to sample_index.

The source video features are omitted from this repository:

  • observation.camera_0.rgb
  • observation.camera_1.rgb

Videos remain in the original dataset at: https://huggingface.co/datasets/BeingBeyond/PND_Adam-U_wipe-board/tree/main/videos

The meta/info.json file is mirrored and updated with a tsfile_conversion object that records the source dataset, converted data path, table name, time mapping, TAG columns, flattened features, omitted video features, and row count.

Minimal Read Example 

from tsfile import TsFileReader

path = "data/pnd_adam_u_wipe_board.tsfile"

with TsFileReader(path) as reader:
    schemas = reader.get_all_table_schemas()
    print(schemas.keys())
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