Hugging Face's logo

Datasets:
XNX25
/
g1_05_23

Tasks:
Robotics
Tags:
LeRobot
tsfile
format:tsfile
time-series
Dataset card Files
xet
 Community
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 68, 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.

g1_05_23 (TsFile)

Apache TsFile version of Jiangeng/G1_05_23.

Overview

This dataset is a LeRobot v2.1 dataset of a Unitree G1 humanoid recorded at 50 fps, with whole-body teleoperation state, WBC action, motion tokens and SMPL body/hand poses.

  • Robot: Unitree G1 humanoid
  • Scale: 33 episodes, 37,420 frames, 50 fps
  • Split: train
  • Cameras (not uploaded): ego_view

Schema (TsFile structure)

The TsFile table is named g1_05_23.

Role Columns
Time Time, INT64 milliseconds
TAG episode_index, task_index
FIELD frame_index, sample_index
FIELD observation_state_0 … observation_state_42
FIELD observation_eef_state_0 … observation_eef_state_13
FIELD action_wbc_0 … action_wbc_42
FIELD action_motion_token_0 … action_motion_token_63
FIELD observation_root_orientation_*
FIELD observation_projected_gravity_*
FIELD observation_cpp_rotation_offset_*
FIELD observation_init_base_quat_*
FIELD teleop_smpl_joints_* / teleop_smpl_pose_* / teleop_body_quat_w_* / teleop_target_body_orientation_*
FIELD teleop_left_hand_joints_* / teleop_right_hand_joints_* / teleop_left_wrist_joints_* / teleop_right_wrist_joints_*
FIELD teleop_planner_movement_* / teleop_planner_facing_* / teleop_vr_3pt_position_* / teleop_vr_3pt_orientation_*
FIELD teleop_delta_heading, teleop_planner_speed, teleop_planner_height
FIELD teleop_smpl_frame_index, teleop_stream_mode, teleop_planner_mode

Vector columns are flattened into scalar FLOAT measurements (single precision). The source index column is retained as sample_index.

Conversion notes

  • Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
  • The original timestamp field is omitted because it is exactly represented by Time / 1000.
  • Camera video streams are NOT included in this repository; they remain in the source videos tree.
  • The source stores floating-point vectors as double; they are flattened to single-precision FLOAT in the TsFile.
  • meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example 

from tsfile import TsFileReader

with TsFileReader("data/g1_05_23.tsfile") as reader:
    print(reader.get_all_table_schemas()["g1_05_23"])

Source & license

Downloads last month
-
Total file size:
14.7 MB