Datasets:

THUgewu
/

stack_without_ft_tact_v4

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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Stack (no F/T, tactile) v4 (TsFile)

Apache TsFile version of LSY-lab/stack_without_ft_tact_v4.

Overview

A LeRobot teleoperation dataset for the manipulation task "pick the lego block." Each episode records the synchronized robot proprioception and the commanded action while an operator demonstrates the pick motion. The robot exposes a 7-joint arm with a gripper; per-frame state includes the end-effector Cartesian pose, the joint positions, the gripper opening, and the controller target pose.

Scale: 51 episodes / 12,244 frames / 1 task.
Sampling rate: 15 fps.
LeRobot codebase version: v2.1.

Schema (TsFile structure)

Time (INT64, milliseconds) — per-frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (≈67 ms between frames at 15 fps).
episode_index (TAG) — episode identifier (the device dimension). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task identifier; this dataset has a single task (0).
frame_index (FIELD, INT64) — frame counter within the episode.
sample_index (FIELD, INT64) — the source index global row counter, renamed.
observation_state_cartesian_0 … _5 (FIELD, FLOAT) — end-effector pose [x, y, z, roll, pitch, yaw].
observation_state_gripper (FIELD, FLOAT) — gripper opening.
observation_state_joints_0 … _6 (FIELD, FLOAT) — measured positions of the 7 arm joints.
observation_state_target_0 … _5 (FIELD, FLOAT) — controller target pose [target_x, target_y, target_z, target_roll, target_pitch, target_yaw].
action_0 … action_6 (FIELD, FLOAT) — commanded action [x, y, z, roll, pitch, yaw, gripper].

Each fixed-size vector column is flattened to one FLOAT field per element, keeping the full source column name (. → _) plus the element index.

Conversion notes

The source carries a redundant aggregate column observation.state (20-dim) that is the exact elementwise concatenation of observation.state.cartesian (6), observation.state.gripper (1), observation.state.joints (7) and observation.state.target (6). It is dropped in this TsFile version — no information is lost, because the four named sub-columns above reconstruct it exactly.
The source timestamp column is dropped because it equals Time / 1000 seconds.
Camera video streams (observation.images.primary, observation.images.wrist) are not included in this repository; see the original dataset's videos/ directory for them: LSY-lab/stack_without_ft_tact_v4.

Usage

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

Source & license

Original dataset: https://huggingface.co/datasets/LSY-lab/stack_without_ft_tact_v4
Author / publisher: LSY-lab
Paper: none
License: not declared by the original dataset; please defer to the original.

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