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Datasets:
XNX25
/
real01b_routing_policy_rollouts

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
LeRobot
tsfile
format:tsfile
time-series
timeseries
License:
Dataset card Files
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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 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.

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real01b-routing policy rollouts (TsFile)

Apache TsFile version of ankile/real01b-routing-d1-r5-ours-freecf-c100000-dp-heval-s2026071107-policy-rollouts, a LeRobot v3.0 evaluation dataset of Franka policy rollouts.

Overview

This dataset records policy rollouts on a real Franka arm for a cable-routing task. Each frame carries the 7-DOF Cartesian state and action, their fully decomposed Cartesian/joint components, Franka motor telemetry (measured and computed torques, external torques, end-effector wrench), and per-episode policy metadata (policy_id, round_id, intervention/success/validity flags, reward, and clip/rope pose markers).

  • Robot: Franka (franka)
  • Scale: 50 episodes, 27,558 frames, 1 task, 15 fps
  • Split: train

Schema (TsFile structure)

The TsFile table is named real01b_routing_policy_rollouts (120 columns).

Role Columns
Time Time, INT64 milliseconds
TAG episode_index, task_index
FIELD frame_index, sample_index
FIELD steps_to_go, source, intervention, success, is_valid, reward, done, policy_id, round_id, manifest_idx
FIELD rope_x, clip_left_*, clip_right_* (pose markers)
FIELD observation_state_0 … observation_state_6, action_0 … action_6, FLOAT
FIELD action_cartesian_velocity_*, action_cartesian_position_*, action_joint_velocity_*, action_joint_position_*, action_gripper_position, action_gripper_velocity, FLOAT
FIELD observation_state_cartesian_position_*, observation_state_joint_position_*, observation_state_joint_velocity_*, observation_state_cartesian_velocity_*, observation_state_gripper_position, FLOAT
FIELD telemetry_franka_motor_torques_external_*, telemetry_franka_ee_wrench_*, telemetry_franka_motor_torques_measured_*, telemetry_franka_joint_torques_computed_*, FLOAT

All fixed-size-list vector columns are flattened into scalar FLOAT measurements; integer metadata columns are preserved as-is. 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.
  • The four camera streams (observation.images.wrist_left, wrist_right, side_1, side_2) are video and are NOT included in this repository; they remain in the source videos tree.
  • 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/real01b_routing_policy_rollouts.tsfile") as reader:
    print(reader.get_all_table_schemas()["real01b_routing_policy_rollouts"])

Source & license

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