Datasets:

azithromycin
/

lerobot_stanford_hydra_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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Stanford HYDRA Dataset TsFile

Apache TsFile representation of lerobot/stanford_hydra_dataset. It stores numeric robot trajectories as a table-model time series. The original videos remain at the source dataset.

Source Dataset

Research project: https://sites.google.com/view/hydra-il-2023
Original research authors: Suneel Belkhale, Yuchen Cui, and Dorsa Sadigh
Hugging Face repository publisher: LeRobot
License: MIT
Paper: HYDRA: Hybrid Robot Actions for Imitation Learning (https://arxiv.org/abs/2306.17237)
DOI: https://doi.org/10.48550/arXiv.2306.17237
Project robot: Franka Emika Panda
LeRobot metadata robot type: unknown
LeRobot codebase version: v3.0
Train split: 570 episodes, 358,234 frames, 3 tasks at 10 fps
Source frame layout: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet (1 Parquet shard)

HYDRA uses hybrid sparse waypoint and dense low-level actions for imitation learning. The trajectories cover coffee making, dish placement, and toast making.

Tasks

task_index	Task	Episodes	Frames
0	make a cup of coffee with the keurig machine	250	144,484
1	palce dishes in the dish rack	110	60,847
2	make a piece of toast with the oven	210	152,903

Data Layout

The train split is one table-model TsFile at data/stanford_hydra_dataset.tsfile. meta/ preserves source LeRobot metadata, and meta/info.json changes data_path to the TsFile path.

Role	Columns	Type
TIME	Time	INT64 milliseconds
TAG	episode_index, task_index	TsFile table device/tag metadata
FIELD	frame_index, sample_index	INT64
FIELD	next_reward	FLOAT
FIELD	next_done	BOOLEAN
FIELD	observation_state_0 through observation_state_7	FLOAT
FIELD	action_0 through action_6	FLOAT

Time = round(timestamp * 1000) in milliseconds and restarts at zero within every episode. frame_index is preserved. timestamp is omitted because Time / 1000 represents it exactly; no source rows, task labels, state dimensions, action dimensions, reward values, or done values are otherwise omitted. index is retained as sample_index; dots in source names are replaced with underscores.

Storage Encoding

Time: TS_2DIFF + LZ4
FLOAT fields: GORILLA + ZSTD
INT64 fields: TS_2DIFF + ZSTD
BOOLEAN fields: RLE + LZ4
TAG fields: TsFile device/tag storage, PLAIN + LZ4

Videos

The original repository has two 240x320 AV1 streams at 10 fps:

videos/observation.images.image/ (4 MP4 shards): https://huggingface.co/datasets/lerobot/stanford_hydra_dataset/tree/main/videos/observation.images.image
videos/observation.images.wrist_image/ (3 MP4 shards): https://huggingface.co/datasets/lerobot/stanford_hydra_dataset/tree/main/videos/observation.images.wrist_image

Video layout: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4. Video files are not included. episode_index, frame_index, and meta/episodes retain frame alignment with the source video streams.

Citation

@inproceedings{belkhale2023hydra,
  title={HYDRA: Hybrid Robot Actions for Imitation Learning},
  author={Belkhale, Suneel and Cui, Yuchen and Sadigh, Dorsa},
  booktitle={Proceedings of the 7th Conference on Robot Learning (CoRL)},
  year={2023}
}

Minimal Read Example

from tsfile import TsFileReader

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

Downloads last month: 20

Total file size:

18.3 MB

Paper for azithromycin/lerobot_stanford_hydra_dataset

HYDRA: Hybrid Robot Actions for Imitation Learning

Paper • 2306.17237 • Published Jun 29, 2023