Hugging Face's logo

Datasets:
HYHero
/
in_package_socks_0805

Tasks:
Robotics
Tags:
lerobot
act
robot-manipulation
imitation-learning
private-robot-data
License:
Dataset card Files
xet
 Community
Dataset Viewer
Duplicate
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    TypeError
Message:      Couldn't cast array of type
struct<codec_name: string, width: int64, height: int64, pix_fmt: string, avg_frame_rate: string, nb_read_frames: string>
to
{'total_frames': Value('int64'), 'files': List({'path': Value('string'), 'codec_name': Value('string'), 'width': Value('int64'), 'height': Value('int64'), 'pix_fmt': Value('string'), 'avg_frame_rate': Value('string'), 'nb_read_frames': Value('string')})}
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 489, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2303, in cast_table_to_schema
                  cast_array_to_feature(
                  ~~~~~~~~~~~~~~~~~~~~~^
                      table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                      feature,
                      ^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1852, in wrapper
                  return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
                                           ~~~~^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2059, in cast_array_to_feature
                  _c(array.field(name) if name in array_fields else null_array, subfeature)
                  ~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1854, in wrapper
                  return func(array, *args, **kwargs)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2149, in cast_array_to_feature
                  raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
              TypeError: Couldn't cast array of type
              struct<codec_name: string, width: int64, height: int64, pix_fmt: string, avg_frame_rate: string, nb_read_frames: string>
              to
              {'total_frames': Value('int64'), 'files': List({'path': Value('string'), 'codec_name': Value('string'), 'width': Value('int64'), 'height': Value('int64'), 'pix_fmt': Value('string'), 'avg_frame_rate': Value('string'), 'nb_read_frames': Value('string')})}

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.

In Package Socks 0805

Private robot-manipulation dataset containing 41 episodes (source episodes 00–40) for the task:

Pick a sock from the container and place it on the table

Repository layout

  • Repository root: LeRobot v3 dataset produced with the official lerobot==0.6.0 dataset API. This placement allows LeRobotDataset and ACT training tools to load the repository directly.
  • raw_original/: byte-preserved original ROS 2 MCAP episodes, original H.264 videos, timestamps, URDF, and recorder metadata.
  • conversion_audit/: conversion reports, SHA-256 manifests, per-frame source mappings, interpolation/drop accounting, official-loader validation, ACT smoke test, and raw-versus-converted video comparisons.

LeRobot data

  • Episodes: 41
  • Frames: 38,600
  • Frequency: 30 Hz
  • State: follower actual /joint_states
  • Action: post-limit /leader/joint_trajectory
  • Joint order: joint1, joint2, joint3, joint4, joint5, gripper_joint_1
  • Cameras:
    • observation.images.camera1: wrist camera
    • observation.images.camera2: overhead camera
  • Video: H.264, yuv420p, 640×480, 30 fps

Short timestamp regressions were removed as timestamp-and-value/frame pairs. Numeric state/action gaps were linearly interpolated only between real samples with a maximum supported span of 100 ms; targets requiring longer-gap interpolation were excluded. Camera frames use nearest real-frame matching with a 50 ms tolerance and no synthetic pixel interpolation.

Validation summary

  • Official LeRobot 0.6.0 loader: pass
  • Official ACTPolicy forward, finite loss, and backward gradients: pass
  • Candidate frames: 38,635
  • Retained frames: 38,600 (99.909%)
  • Excluded frames: 35 (0.091%)
  • Raw-versus-converted video comparison: 42 mapped samples, mean PSNR 42.27 dB
  • Original source before/after conversion and backup SHA-256 manifests: equal

The wrist camera can be naturally occluded by the robot, gripper, or sock during task execution. These frames are intentional observations and were not removed.

Local loading example 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    "HYHero/in_package_socks_0805",
    root="/path/to/local/cache/in_package_socks_0805",
)

This repository is private and no redistribution license is granted.
Downloads last month
5
Total file size:
1.8 GB