Datasets:

THULab
/

thomas0829_bimanual_so100_stack_blocks

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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Bimanual SO100 Stack Blocks TsFile

Apache TsFile edition of thomas0829/bimanual_so100_stack_blocks, a LeRobot v2.1 bimanual SO-100 block-stacking dataset.

Source and attribution

Original dataset: https://huggingface.co/datasets/thomas0829/bimanual_so100_stack_blocks
Repository owner and contributor: thomas0829
License: Apache-2.0
Task: Pick the first block from the table and stack it on the second block.
Train split: 50 episodes, 27,228 frame rows, one task, 30 fps, and 50 Parquet episode files.

The source card does not provide a paper, external homepage, or BibTeX citation. Please cite the original Hugging Face dataset and thomas0829 when using this data.

TsFile schema

Time = round(timestamp * 1000) as INT64 milliseconds and restarts at zero in each episode. The source timestamp column is removed because Time / 1000 represents it in seconds. index is renamed to sample_index; frame_index is retained.

Columns	TsFile type	Role
`Time`	INT64/TIMESTAMP	TIME
`episode_index`, `task_index`	STRING device segments	TAG
`frame_index`, `sample_index`	INT64	FIELD
`action_0` ... `action_11`	FLOAT	FIELD
`observation_state_0` ... `observation_state_11`	FLOAT	FIELD

The 12 action and 12 state elements retain the source ordering: left shoulder pan/lift, elbow flex, wrist flex/roll, gripper, then the same six joints for the right arm. Vector fields are flattened into scalar fields; dots in the source vector name become underscores. No numeric rows or vector dimensions are dropped.

Storage uses GORILLA + LZ4 for FLOAT/DOUBLE, TS_2DIFF + LZ4 for INT32/INT64 and Time, and RLE + LZ4 for BOOLEAN. TAG values use the TsFile table/device mechanism.

Original videos

The original 150 MP4 files are at videos/ and are not included in this TsFile dataset. Their source path template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 for observation.images.left (640 x 480), observation.images.right (640 x 480), and observation.images.top (1280 x 720). Each stream is AV1, 30 fps, and has one video per episode. Use episode_index and frame_index to align numeric rows with the matching original video frame.

Read example

from tsfile import TsFileReader

reader = TsFileReader("data/thomas0829_bimanual_so100_stack_blocks.tsfile")
with reader.query_table(
    "thomas0829_bimanual_so100_stack_blocks",
    ["episode_index", "task_index", "Time", "frame_index", "action_0"],
    batch_size=4096,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

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