Datasets:

Xia-2004
/

arx-left-cube

Error code:   StreamingRowsError
Exception:    ArrowInvalid
Message:      Column 1 named goal_pixels expected length 764 but got length 224
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 87, in _generate_tables
                  pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 283, in _recursive_load_arrays
                  return pa.Table.from_pydict(batch_dict)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "pyarrow/table.pxi", line 1985, in pyarrow.lib._Tabular.from_pydict
                File "pyarrow/table.pxi", line 6401, in pyarrow.lib._from_pydict
                File "pyarrow/table.pxi", line 4912, in pyarrow.lib.Table.from_arrays
                File "pyarrow/table.pxi", line 4256, in pyarrow.lib.Table.validate
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Column 1 named goal_pixels expected length 764 but got length 224

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ARX Left Cube YuHai HDF5 Dataset

This dataset contains ARX-X5 left-arm single-arm teleoperation episodes for a cube manipulation task. Each episode is stored as one HDF5 file.

https://huggingface.co/datasets/Xia-2004/arx-left-cube

Files

episode_000000.hdf5 ... episode_000050.hdf5
51 episodes
18,777 total frames
RGB images are stored as uint8
Actions are stored as float32

HDF5 Format

Each episode_*.hdf5 contains:

Key	Shape	Dtype	Meaning
`action`	`(T, 5)`	`float32`	Delta end-effector action for each frame
`timestamp`	`(T,)`	`float64`	Collection timestamp for each frame
`pixels/cam_high`	`(T, 224, 224, 3)`	`uint8`	Third-person/top camera RGB frames
`pixels/cam_left_wrist`	`(T, 224, 224, 3)`	`uint8`	Left wrist RealSense RGB frames
`goal_pixels/cam_high`	`(224, 224, 3)`	`uint8`	Final goal image from `cam_high`
`goal_pixels/cam_left_wrist`	`(224, 224, 3)`	`uint8`	Final goal image from `cam_left_wrist`
`observations/pixels/cam_high`	soft link	-	Link to `pixels/cam_high`
`observations/pixels/cam_left_wrist`	soft link	-	Link to `pixels/cam_left_wrist`

The action columns are:

[dx, dy, dz, dyaw, d_gripper]

where:

dx, dy, dz: delta end-effector translation
dyaw: delta end-effector yaw
d_gripper: delta gripper command

The HDF5 attribute action_order also records this column order.

Python Loading Example

import h5py

path = "episode_000000.hdf5"

with h5py.File(path, "r") as f:
    actions = f["action"][:]
    cam_high = f["pixels/cam_high"][:]
    cam_left_wrist = f["pixels/cam_left_wrist"][:]
    goal_high = f["goal_pixels/cam_high"][:]
    goal_left_wrist = f["goal_pixels/cam_left_wrist"][:]

print(actions.shape)
print(cam_high.shape)
print(goal_high.shape)

Download

Install the Hugging Face Hub CLI:

pip install -U huggingface_hub

Download the full dataset:

huggingface-cli download arx-left-cube \
huggingface-cli download Xia-2004/arx-left-cube \
  --repo-type dataset \
  --local-dir ./arx-left-cube

Or with Python:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="Xia-2004/arx-left-cube",
    repo_type="dataset",
    local_dir="./arx-left-cube",
)

Downloads last month: 59

Total file size:

1.93 GB