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VGalaxies666
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G1_Dex1_Pack_PingPong

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Robotics

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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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G1_Dex1_Pack_PingPong

This dataset was converted from unitreerobotics/G1_Dex1_Pack_PingPong to Apache TsFile format.

Dataset Description

The original dataset was created using LeRobot.

Homepage: UnifoLM-VLA-0
License: apache-2.0
Task Objective: Store the ping-pong paddle in its case and zip it.
Operation Duration: Each operation takes approximately 20 to 40 seconds.
Recording Frequency: 30 Hz.
Robot Type: 7-DOF dual-arm G1 robot.
End Effector: Gripper.
Dual-Arm Operation: Yes.
Image Resolution: 640x480.
Camera Positions: Wrist-mounted monocular camera plus head-mounted binocular cameras.
Data Content: robot current state, robot next action, and current camera view images in the original dataset.
Robot Initial Posture: The first robot state in each dataset entry.
Object Placement: Randomly placed within the robot arm motion range and the field of view of the head-mounted camera.
Camera View: Follow Part 5 of the AVP Teleoperation Documentation.

Important notes from the original dataset:

Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of the AVP Teleoperation Documentation.
Data collection was not completed in a single session, and variations between data entries exist. Account for these variations during model training.

Source Dataset

Original dataset: unitreerobotics/G1_Dex1_Pack_PingPong
Source scale: 200 episodes, 160,593 frames, 30 Hz, 1 task, 800 videos.
Source robot type: G1_ALL.
Source data path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
Source video path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

TsFile Conversion

The numeric robot state/action/time/task data was converted into one TsFile:

data/g1_dex1_pack_pingpong.tsfile

Conversion details:

All 200 source episodes are stored in one TsFile table named g1_dex1_pack_pingpong.
episode_index and task_index are TsFile TAG columns. Query a single episode with WHERE episode_index=N.
Time = round(timestamp * 1000) in milliseconds. The source timestamp column is not retained because it equals Time / 1000 seconds.
frame_index is kept. Source index is renamed to sample_index.
Vector columns are flattened by preserving the source column name, replacing . with _, and appending the element index.
Values from flattened vector columns are stored as single-precision FLOAT.

Flattened vector features:

observation.left_arm[7] -> observation_left_arm_0..observation_left_arm_6
observation.right_arm[7] -> observation_right_arm_0..observation_right_arm_6
observation.left_gripper[1] -> observation_left_gripper
observation.right_gripper[1] -> observation_right_gripper
observation.left_ee[6] -> observation_left_ee_0..observation_left_ee_5
observation.right_ee[6] -> observation_right_ee_0..observation_right_ee_5
observation.body[29] -> observation_body_0..observation_body_28
action.left_arm[7] -> action_left_arm_0..action_left_arm_6
action.right_arm[7] -> action_right_arm_0..action_right_arm_6
action.left_gripper[1] -> action_left_gripper
action.right_gripper[1] -> action_right_gripper
action.left_ee[6] -> action_left_ee_0..action_left_ee_5
action.right_ee[6] -> action_right_ee_0..action_right_ee_5
action.body[7] -> action_body_0..action_body_6

Videos

Videos are not included in this TsFile repository. They remain in the original dataset under videos/.

The mirrored meta/info.json records the original video path and includes a tsfile_conversion section describing the converted schema, row count, tag columns, dropped timestamp column, omitted video features, and time mapping.

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