Datasets:

THULab
/

HarrisonLee24_so100_test

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 68, 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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SO100 Test TsFile

This dataset is an Apache TsFile conversion of HarrisonLee24/so100_test, a LeRobot v2.1 SO100 robot-manipulation dataset for grasping a LEGO block and placing it in a bin. It contains numeric trajectories, frame timing, and episode/task tags. Videos remain in the original Hugging Face repository.

Source Dataset and Attribution

Original dataset: HarrisonLee24/so100_test
Original author, repository owner, uploader, and commit author: Harrison Lee (HarrisonLee24)
License: Apache-2.0
Task: "Grasp a lego block and put it in the bin."
Robot: so100; LeRobot version: v2.1
Split: train; sampling rate: 30 fps
Scale: 92 episodes, 80,091 frame rows, 1 task
Source shards: 92 Parquet files totaling 3,926,293 bytes
Episode lengths: 868 to 873 frames
Source frame layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
Paper, external homepage, and completed citation: not provided by the source card.

The source README embeds an older two-episode copy of meta/info.json. The current meta/info.json, 92 source Parquet files, meta/episodes.jsonl, and meta/episodes_stats.jsonl consistently describe the 92-episode dataset and are used here.

Data Layout

TsFile: data/harrisonlee24_so100_test.tsfile (1,372,574 bytes)
Table: harrisonlee24_so100_test
Rows: 80,091; episodes/devices: 92; tasks: 1
Time precision: milliseconds
Source metadata is retained under meta/; meta/info.json points to the TsFile data path and records the field mapping and source-video alignment.

Schema and Mapping

Time = round(timestamp * 1000) milliseconds. Time starts at zero and is strictly increasing inside every episode. The source timestamp is dropped afterward because it is represented by Time / 1000 seconds at the selected precision.

TsFile column	Role	Type	Source mapping
`Time`	TIME	TIMESTAMP	`round(timestamp * 1000)` ms
`episode_index`	TAG	STRING	Original INT64 episode index
`task_index`	TAG	STRING	Original INT64 task index
`frame_index`	FIELD	INT64	Preserved
`sample_index`	FIELD	INT64	Renamed from `index`
`action_0` ... `action_5`	FIELD	FLOAT	Flattened from `action[6]`
`observation_state_0` ... `observation_state_5`	FIELD	FLOAT	Flattened from `observation.state[6]`

The six vector dimensions are main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper. Dots in source names are replaced by underscores. No numeric row, episode, task, state dimension, or action dimension is dropped.

Videos

Videos are not included in this TsFile dataset. Current meta/info.json references 184 frame-aligned H.264 MP4 files (565,481,091 bytes), 640x480 at 30 fps without audio, in two streams with 92 episode files each:

observation.images.global_cam - 92 files, 363,719,494 bytes
observation.images.hand_eye_cam - 92 files, 201,761,597 bytes

The source layout is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Use episode_index, frame_index, and meta/episodes.jsonl to align numeric rows with the original video frames.

The repository also retains 65 files in five older video directories that are not referenced by the current meta/info.json: action_cam (20), laptop (10), osmo (5), phone (10), and pocket_cam (20). They remain accessible under the source videos/ tree, but this card does not claim frame alignment for those historical streams.

Minimal Read Example

from tsfile import TsFileReader

reader = TsFileReader("data/harrisonlee24_so100_test.tsfile")
with reader.query_table(
    "harrisonlee24_so100_test",
    ["episode_index", "task_index", "frame_index", "sample_index",
     "action_0", "observation_state_0"],
    batch_size=65536,
) as result:
    batch = result.read_arrow_batch()
    print(batch.to_pandas().head())
reader.close()

Citation

The source card provides no paper or completed citation. Cite the original Hugging Face dataset and Harrison Lee (HarrisonLee24) when using this data.

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