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Datasets:
THUgewu
/
so101_sim_pick_place_v1

Tags:
tsfile
time-series
robotics
lerobot
so101
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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.

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SO101 Sim Pick Place V1 (TsFile)

This dataset is an Apache TsFile conversion of the Hugging Face dataset BrandonAL/so101_sim_pick_place_v1.

Modalities: Time-series. The converted repository contains numeric robot state/action time-series and source metadata. Camera videos remain in the original Hugging Face dataset.

Source Dataset

  • Source dataset: BrandonAL/so101_sim_pick_place_v1
  • Source format: LeRobot v3.0
  • Robot type: so101
  • Split: train (0:51)
  • Episodes: 51
  • Frames: 18,000
  • Tasks: 1
  • Sampling rate: 30 fps
  • Source numeric data path: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
  • Source video path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

Converted Data

  • TsFile path: data/so101_sim_pick_place_v1.tsfile
  • Table name: so101_sim_pick_place_v1
  • Rows: 18,000
  • TsFile files: 1
  • Time precision: milliseconds
  • TAG columns: episode_index, task_index

Schema

Time is the TsFile time column.

TAG columns:

  • episode_index
  • task_index

FIELD columns:

  • frame_index
  • sample_index
  • observation_state_0 through observation_state_5
  • action_0 through action_5

The six observation_state_* and action_* values correspond to the SO-101 joint/gripper dimensions listed by the source metadata: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, and gripper.

Conversion Notes

  • Time = round(timestamp * 1000) in milliseconds and restarts per episode.
  • The source timestamp column is dropped because it is redundant with Time / 1000.
  • The source index column is renamed to sample_index.
  • observation.state is flattened to observation_state_0..5.
  • action is flattened to action_0..5.
  • Flattened vector values are stored as single-precision FLOAT fields.
  • Video features observation.images.top and observation.images.wrist are not uploaded here. Use the original dataset for visual data: https://huggingface.co/datasets/BrandonAL/so101_sim_pick_place_v1/tree/main/videos
  • Source meta/ files are mirrored, with meta/info.json updated to describe the converted TsFile artifact and video policy.

Read Example 

# Read data/so101_sim_pick_place_v1.tsfile with the Apache TsFile SDK.
# Query one episode by filtering the TAG column, for example:
#   WHERE episode_index = 0
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