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Datasets:
THUgewu
/
ur5e_pick_red_cube_lerobot

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
lerobot
robotics
ur5e
License:
Dataset card Data Studio Files
xet
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The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
episode_index: int64
stats: struct<next.reward: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double (... 2325 chars omitted)
  child 0, next.reward: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 1, next.success: struct<min: list<item: bool>, max: list<item: bool>, mean: list<item: double>, std: list<item: doubl (... 29 chars omitted)
      child 0, min: list<item: bool>
          child 0, item: bool
      child 1, max: list<item: bool>
          child 0, item: bool
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 2, seed: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: d
...
ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 13, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 14, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: int64>, std: list<item: doub (... 30 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: int64>
          child 0, item: int64
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
tasks: list<item: string>
  child 0, item: string
length: int64
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_index: int64
              stats: struct<next.reward: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double (... 2325 chars omitted)
                child 0, next.reward: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 1, next.success: struct<min: list<item: bool>, max: list<item: bool>, mean: list<item: double>, std: list<item: doubl (... 29 chars omitted)
                    child 0, min: list<item: bool>
                        child 0, item: bool
                    child 1, max: list<item: bool>
                        child 0, item: bool
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 2, seed: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: d
              ...
              ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 13, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 14, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: int64>, std: list<item: doub (... 30 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: int64>
                        child 0, item: int64
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
              tasks: list<item: string>
                child 0, item: string
              length: int64
              to
              {'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
              because column names don't match
              
              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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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.

episode_index
int64
tasks
list
length
int64
0
[ "pick up the red cube and place it on the blue square" ]
164
1
[ "pick up the red cube and place it on the blue square" ]
47
2
[ "pick up the red cube and place it on the blue square" ]
155
3
[ "pick up the red cube and place it on the blue square" ]
147
4
[ "pick up the red cube and place it on the blue square" ]
158
5
[ "pick up the red cube and place it on the blue square" ]
158
6
[ "pick up the red cube and place it on the blue square" ]
135
7
[ "pick up the red cube and place it on the blue square" ]
121
8
[ "pick up the red cube and place it on the blue square" ]
149
9
[ "pick up the red cube and place it on the blue square" ]
127
10
[ "pick up the red cube and place it on the blue square" ]
120
11
[ "pick up the red cube and place it on the blue square" ]
112
12
[ "pick up the red cube and place it on the blue square" ]
110
13
[ "pick up the red cube and place it on the blue square" ]
128
14
[ "pick up the red cube and place it on the blue square" ]
138
15
[ "pick up the red cube and place it on the blue square" ]
140
16
[ "pick up the red cube and place it on the blue square" ]
33
17
[ "pick up the red cube and place it on the blue square" ]
114
18
[ "pick up the red cube and place it on the blue square" ]
168
19
[ "pick up the red cube and place it on the blue square" ]
132
20
[ "pick up the red cube and place it on the blue square" ]
124
21
[ "pick up the red cube and place it on the blue square" ]
105
22
[ "pick up the red cube and place it on the blue square" ]
130
23
[ "pick up the red cube and place it on the blue square" ]
117
24
[ "pick up the red cube and place it on the blue square" ]
117
25
[ "pick up the red cube and place it on the blue square" ]
168
26
[ "pick up the red cube and place it on the blue square" ]
156
27
[ "pick up the red cube and place it on the blue square" ]
151
28
[ "pick up the red cube and place it on the blue square" ]
139
29
[ "pick up the red cube and place it on the blue square" ]
124
30
[ "pick up the red cube and place it on the blue square" ]
140
31
[ "pick up the red cube and place it on the blue square" ]
146
32
[ "pick up the red cube and place it on the blue square" ]
111
33
[ "pick up the red cube and place it on the blue square" ]
150
34
[ "pick up the red cube and place it on the blue square" ]
99
35
[ "pick up the red cube and place it on the blue square" ]
124
36
[ "pick up the red cube and place it on the blue square" ]
127
37
[ "pick up the red cube and place it on the blue square" ]
134
38
[ "pick up the red cube and place it on the blue square" ]
121
39
[ "pick up the red cube and place it on the blue square" ]
183
40
[ "pick up the red cube and place it on the blue square" ]
117
41
[ "pick up the red cube and place it on the blue square" ]
119
42
[ "pick up the red cube and place it on the blue square" ]
128
43
[ "pick up the red cube and place it on the blue square" ]
124
44
[ "pick up the red cube and place it on the blue square" ]
120
45
[ "pick up the red cube and place it on the blue square" ]
125
46
[ "pick up the red cube and place it on the blue square" ]
120
47
[ "pick up the red cube and place it on the blue square" ]
157
48
[ "pick up the red cube and place it on the blue square" ]
105
49
[ "pick up the red cube and place it on the blue square" ]
128
50
[ "pick up the red cube and place it on the blue square" ]
134
51
[ "pick up the red cube and place it on the blue square" ]
130
52
[ "pick up the red cube and place it on the blue square" ]
128
53
[ "pick up the red cube and place it on the blue square" ]
170
54
[ "pick up the red cube and place it on the blue square" ]
112
55
[ "pick up the red cube and place it on the blue square" ]
136
56
[ "pick up the red cube and place it on the blue square" ]
107
57
[ "pick up the red cube and place it on the blue square" ]
134
58
[ "pick up the red cube and place it on the blue square" ]
143
59
[ "pick up the red cube and place it on the blue square" ]
146
60
[ "pick up the red cube and place it on the blue square" ]
155
61
[ "pick up the red cube and place it on the blue square" ]
147
62
[ "pick up the red cube and place it on the blue square" ]
144
63
[ "pick up the red cube and place it on the blue square" ]
123
64
[ "pick up the red cube and place it on the blue square" ]
138
65
[ "pick up the red cube and place it on the blue square" ]
135
66
[ "pick up the red cube and place it on the blue square" ]
140
67
[ "pick up the red cube and place it on the blue square" ]
141
68
[ "pick up the red cube and place it on the blue square" ]
124
69
[ "pick up the red cube and place it on the blue square" ]
48
70
[ "pick up the red cube and place it on the blue square" ]
58
71
[ "pick up the red cube and place it on the blue square" ]
122
72
[ "pick up the red cube and place it on the blue square" ]
140
73
[ "pick up the red cube and place it on the blue square" ]
121
74
[ "pick up the red cube and place it on the blue square" ]
121
75
[ "pick up the red cube and place it on the blue square" ]
135
76
[ "pick up the red cube and place it on the blue square" ]
133
77
[ "pick up the red cube and place it on the blue square" ]
124
78
[ "pick up the red cube and place it on the blue square" ]
131
79
[ "pick up the red cube and place it on the blue square" ]
144
80
[ "pick up the red cube and place it on the blue square" ]
109
81
[ "pick up the red cube and place it on the blue square" ]
137
82
[ "pick up the red cube and place it on the blue square" ]
135
83
[ "pick up the red cube and place it on the blue square" ]
145
84
[ "pick up the red cube and place it on the blue square" ]
117
85
[ "pick up the red cube and place it on the blue square" ]
146
86
[ "pick up the red cube and place it on the blue square" ]
134
87
[ "pick up the red cube and place it on the blue square" ]
167
88
[ "pick up the red cube and place it on the blue square" ]
145
89
[ "pick up the red cube and place it on the blue square" ]
154
90
[ "pick up the red cube and place it on the blue square" ]
132
91
[ "pick up the red cube and place it on the blue square" ]
143
92
[ "pick up the red cube and place it on the blue square" ]
125
93
[ "pick up the red cube and place it on the blue square" ]
143
94
[ "pick up the red cube and place it on the blue square" ]
150
95
[ "pick up the red cube and place it on the blue square" ]
170
96
[ "pick up the red cube and place it on the blue square" ]
128
97
[ "pick up the red cube and place it on the blue square" ]
151
98
[ "pick up the red cube and place it on the blue square" ]
134
99
[ "pick up the red cube and place it on the blue square" ]
172
End of preview.

UR5e Pick Red Cube (TsFile)

Apache TsFile version of tlpss/ur5e-pick-red-cube.

Overview

A UR5e robot-arm manipulation dataset in the LeRobot v2.1 format. The single task is to pick up a red cube and place it on a blue square. Each record is one control frame within a demonstration episode, holding the robot's proprioceptive state, the commanded action, and per-step reward / success flags.

  • Scale: 103 episodes, 13,567 frames total (≈ 132 frames per episode on average).
  • Sampling rate: 10 fps.
  • Tasks: 1 — "pick up the red cube and place it on the blue square".
  • Robot: UR5e arm with a gripper.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000), restarting at 0 for each episode.
  • episode_index (TAG) — source episode id (0–102).
  • task_index (TAG) — source task id.
  • frame_index (FIELD, INT64) — frame position within the episode.
  • sample_index (FIELD, INT64) — the source global index column, renamed.
  • seed (FIELD, INT64) — episode random seed.
  • next_reward (FIELD, FLOAT) — reward at the next step.
  • next_success (FIELD, BOOLEAN) — task-success flag.
  • gripper_state (FIELD, FLOAT) — scalar gripper state.
  • observation_state_0 .. observation_state_6 (FIELD, FLOAT) — the 7-D observation state, flattened.
  • robot_pose_0 .. robot_pose_5 (FIELD, FLOAT) — the 6-D robot pose, flattened.
  • joints_0 .. joints_5 (FIELD, FLOAT) — the 6-D joint vector, flattened.
  • action_0 .. action_9 (FIELD, FLOAT) — the 10-D action, flattened.

All 103 episodes share a single .tsfile; episode_index and task_index are the device (TAG) dimensions. Query one episode with WHERE episode_index=0.

Vector columns are flattened keeping the source name (e.g. observation.state → observation_state_0..6, action → action_0..9). The source timestamp column is dropped because it equals Time / 1000 seconds; frame_index is kept.

Usage

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

Source & license

  • Original dataset: https://huggingface.co/datasets/tlpss/ur5e-pick-red-cube
  • Author / publisher: tlpss (Hugging Face)
  • Created with LeRobot.
  • Camera videos (observation.images.wrist_image, observation.images.scene_image, 240×320 RGB @ 10 fps) are not included in this repository; see the original dataset's videos/ directory for them.
  • License: apache-2.0.
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