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Datasets:
THUgewu
/
pusht_v2_keypoints

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
License:
Dataset card Files
xet
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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.

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.

pusht_v2_keypoints (TsFile)

Apache TsFile version of cadene/pusht_v2_keypoints.

Overview

The keypoints variant of the PushT benchmark, formatted with LeRobot. A 2D pointer agent pushes a T-shaped block onto a T-shaped target region. Each frame records the agent state, the action, the environment keypoint state, and the step reward / success flag.

  • Robot: 2d pointer (2D agent).
  • Task: "Push the T-shaped blue block onto the T-shaped green target surface." (1 task).
  • Scale: 206 episodes, 25,650 frames, single train split.
  • Sampling rate: 10 fps.
  • Videos: none — this dataset stores keypoints, not images.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000), restarts per episode.
  • episode_index (TAG) — episode device dimension; query one episode with WHERE episode_index=0.
  • task_index (TAG) — task device dimension (single task here).
  • frame_index (FIELD, INT64) — original per-episode frame counter.
  • sample_index (FIELD, INT64) — source index column, renamed.
  • next_reward (FIELD, FLOAT) — step reward (source next.reward).
  • next_success (FIELD, BOOLEAN) — step success flag (source next.success).
  • observation_state_0..1 (FIELD, FLOAT) — 2D agent position.
  • action_0..1 (FIELD, FLOAT) — 2D action.
  • observation_environment_state_0..15 (FIELD, FLOAT) — the 8 (x, y) keypoints describing the T block / agent geometry.

Vector columns are flattened by preserving the source name (. → _) and appending the element index. The source timestamp column is dropped because it equals Time ÷ 1000 seconds.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

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