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DaivdYuan
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exumi-insert-pen-lerobot

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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 "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 91, in _split_generators
                  pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 193, in _generate_tables
                  examples = [ujson_loads(line) for line in batch.splitlines()]
                              ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/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 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/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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Insert Pen

Visualizers

Overview

This dataset is a conversion from an upstream robotics dataset into LeRobot v3-compatible format. It is intended to provide reproducible access in a unified schema.

Source Dataset

Dataset ID: exumi-insert-pen
Project: exUMI
Task: Insert Pen
Upstream download/source URL: https://huggingface.co/datasets/silicx/exUMI/resolve/main/insert_pen.zarr.zip?download=true
Upstream project page: https://silicx.github.io/exUMI/
Contact: silicxuyue@outlook.com
Original paper: Xu et al. 2025
Notes: 139 demos; image+tactile

Dataset Format

Storage format: LeRobot v3 parquet-based dataset
Total episodes: 139
Total frames: 103730
FPS: 30
Robot type: generic_robot
Observation feature: observation.state with shape [7]
Action feature: action with shape [7]
Video streams: present

Video Modalities

observation.images.camera0_rgb: shape [224, 224, 3]
Frame rate: 30 FPS

Conversion Notes

Target schema: LeRobot v3
Conversion path: ingest -> preprocess -> zarr probe -> convert 1 episode -> upload
action fallback may be used when upstream data/action is missing.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "generic_robot",
  "total_episodes": 139,
  "total_frames": 103730,
  "fps": 30,
  "splits": {"train": "0:139"},
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "observation.state": {"dtype": "float32", "shape": [7]},
    "action": {"dtype": "float32", "shape": [7]}
  }
}

Data Splits

{'train': '0:139'}

Citation

This dataset was created using LeRobot. Please also cite the original upstream project and paper listed above.

Attribution

Original dataset credit remains with upstream creators.
Conversion and curation contribution:
- Convertor: David Yuan, davidy02@stanford.edu, Stanford University
- NMotion Initiative (opensource community): we make embodied data accessible

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