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ishika_aloha_play_dataset_feb22_with_fk

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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 71, 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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ALOHA Play Dataset Feb22 with FK TsFile

Apache TsFile edition of ishika/aloha_play_dataset_feb22_with_fk, a LeRobot v2.1 ALOHA play dataset containing joint commands, joint observations, and forward- kinematics poses for both end effectors and the head camera.

Source and Attribution

Original dataset: ishika/aloha_play_dataset_feb22_with_fk
Repository owner, uploader, and sole contributor: ishika
License: not specified by the source repository
Task label: play data
Robot: trossen_ai_stationary; Trossen subversion: v1.0
LeRobot codebase version: v2.1
Split: train; sampling rate: 30 fps
Scale: 60 episodes, 147,758 frame rows, 1 distinct task
Source layout: 60 episode Parquet files at data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
The source card supplies no paper, citation, homepage, or separate author list.

TsFile Data

Path: data/ishika_aloha_play_dataset_feb22_with_fk.tsfile (12,630,997 bytes)
Table: ishika_aloha_play_dataset_feb22_with_fk
Rows: 147,758; episode devices: 60; tasks: 1
Time precision: milliseconds
Size relative to the source train Parquet: 54.56%
Source metadata remains under meta/; no source Parquet is placed there.

Schema

Columns	TsFile role	Type	Meaning
`Time`	TIME	INT64	`round(timestamp * 1000)` milliseconds; restarts at zero per episode
`episode_index`, `task_index`	TAG	source INT64, stored as TAG values	Original LeRobot device dimensions
`frame_index`	FIELD	INT64	Frame number within each episode
`sample_index`	FIELD	INT64	Source `index`, renamed for clarity
`action_0` ... `action_13`	FIELD	FLOAT	Left and right commanded joint values
`observation_state_0` ... `observation_state_13`	FIELD	FLOAT	Left and right observed joint values
`left_ee_position_0` ... `_2`	FIELD	FLOAT	Left end-effector XYZ position in metres
`left_ee_quat_xyzw_0` ... `_3`	FIELD	FLOAT	Left end-effector quaternion XYZW
`right_ee_position_0` ... `_2`	FIELD	FLOAT	Right end-effector XYZ position in metres
`right_ee_quat_xyzw_0` ... `_3`	FIELD	FLOAT	Right end-effector quaternion XYZW
`head_camera_position_0` ... `_2`	FIELD	FLOAT	Head camera XYZ position in metres
`head_camera_quat_xyzw_0` ... `_3`	FIELD	FLOAT	Head camera quaternion XYZW

All vector columns are flattened in source order, with dots replaced by underscores. Source timestamp is omitted after Time synthesis because it is equivalent to Time / 1000 seconds. No row, episode, task, scalar field, or vector element is removed.

Encodings and Compression

FLOAT/DOUBLE: GORILLA + ZSTD
INT32/INT64: TS_2DIFF + ZSTD
Time: TS_2DIFF + LZ4
BOOLEAN: RLE + LZ4 when present; this source has no BOOLEAN field
TAG: TsFile table/device mechanism

The physical table schema, Time codec, every FIELD codec, and all 147,758 rows were read back with the Apache TsFile Java API.

Videos

Videos are not included here. The 240 original AV1 MP4 files (about 12.02 GB) remain under the source videos/ directory. They are arranged across chunk-000 through chunk-015, with 60 files in each stream:

The source path template is videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4. Use episode_index and frame_index to align a TsFile row with its original per-episode video frame.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/ishika_aloha_play_dataset_feb22_with_fk.tsfile")
with reader.query_table(
    "ishika_aloha_play_dataset_feb22_with_fk",
    ["episode_index", "task_index", "frame_index", "action_0",
     "observation_state_0", "left_ee_position_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

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