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Datasets:
smilegeng
/
aloha_static_candy

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
< 1K
ArXiv:
Tags:
time-series
tsfile
robotics
lerobot
aloha
timeseries
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
task_index: int64
__index_level_0__: string
-- schema metadata --
pandas: '{"index_columns": ["__index_level_0__"], "column_indexes": [{"na' + 449
to
{'episode_index': Value('int64'), 'data/chunk_index': Value('int64'), 'data/file_index': Value('int64'), 'dataset_from_index': Value('int64'), 'dataset_to_index': Value('int64'), 'videos/observation.images.cam_high/chunk_index': Value('int64'), 'videos/observation.images.cam_high/file_index': Value('int64'), 'videos/observation.images.cam_high/from_timestamp': Value('float64'), 'videos/observation.images.cam_high/to_timestamp': Value('float64'), 'videos/observation.images.cam_left_wrist/chunk_index': Value('int64'), 'videos/observation.images.cam_left_wrist/file_index': Value('int64'), 'videos/observation.images.cam_left_wrist/from_timestamp': Value('float64'), 'videos/observation.images.cam_left_wrist/to_timestamp': Value('float64'), 'videos/observation.images.cam_low/chunk_index': Value('int64'), 'videos/observation.images.cam_low/file_index': Value('int64'), 'videos/observation.images.cam_low/from_timestamp': Value('float64'), 'videos/observation.images.cam_low/to_timestamp': Value('float64'), 'videos/observation.images.cam_right_wrist/chunk_index': Value('int64'), 'videos/observation.images.cam_right_wrist/file_index': Value('int64'), 'videos/observation.images.cam_right_wrist/from_timestamp': Value('float64'), 'videos/observation.images.cam_right_wrist/to_timestamp': Value('float64'), 'tasks': List(Value('string')), 'length': Value('int64'), 'stats/observation.images.cam_high/min': List(List(List(Value('float64')))), 'stats/observation.images.cam_high/max': List(List(Lis
...
), 'stats/episode_index/min': List(Value('int64')), 'stats/episode_index/max': List(Value('int64')), 'stats/episode_index/mean': List(Value('float64')), 'stats/episode_index/std': List(Value('float64')), 'stats/episode_index/count': List(Value('int64')), 'stats/frame_index/min': List(Value('int64')), 'stats/frame_index/max': List(Value('int64')), 'stats/frame_index/mean': List(Value('float64')), 'stats/frame_index/std': List(Value('float64')), 'stats/frame_index/count': List(Value('int64')), 'stats/timestamp/min': List(Value('float64')), 'stats/timestamp/max': List(Value('float64')), 'stats/timestamp/mean': List(Value('float64')), 'stats/timestamp/std': List(Value('float64')), 'stats/timestamp/count': List(Value('int64')), 'stats/next.done/min': List(Value('bool')), 'stats/next.done/max': List(Value('bool')), 'stats/next.done/mean': List(Value('float64')), 'stats/next.done/std': List(Value('float64')), 'stats/next.done/count': List(Value('int64')), 'stats/index/min': List(Value('int64')), 'stats/index/max': List(Value('int64')), 'stats/index/mean': List(Value('float64')), 'stats/index/std': List(Value('float64')), 'stats/index/count': List(Value('int64')), 'stats/task_index/min': List(Value('int64')), 'stats/task_index/max': List(Value('int64')), 'stats/task_index/mean': List(Value('float64')), 'stats/task_index/std': List(Value('float64')), 'stats/task_index/count': List(Value('int64')), 'meta/episodes/chunk_index': Value('int64'), 'meta/episodes/file_index': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, 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 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 478, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2815, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2352, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2377, 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 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 419, 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/parquet/parquet.py", line 220, in _generate_tables
                  yield Key(file_idx, batch_idx), self._cast_table(pa_table)
                                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/parquet/parquet.py", line 156, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              task_index: int64
              __index_level_0__: string
              -- schema metadata --
              pandas: '{"index_columns": ["__index_level_0__"], "column_indexes": [{"na' + 449
              to
              {'episode_index': Value('int64'), 'data/chunk_index': Value('int64'), 'data/file_index': Value('int64'), 'dataset_from_index': Value('int64'), 'dataset_to_index': Value('int64'), 'videos/observation.images.cam_high/chunk_index': Value('int64'), 'videos/observation.images.cam_high/file_index': Value('int64'), 'videos/observation.images.cam_high/from_timestamp': Value('float64'), 'videos/observation.images.cam_high/to_timestamp': Value('float64'), 'videos/observation.images.cam_left_wrist/chunk_index': Value('int64'), 'videos/observation.images.cam_left_wrist/file_index': Value('int64'), 'videos/observation.images.cam_left_wrist/from_timestamp': Value('float64'), 'videos/observation.images.cam_left_wrist/to_timestamp': Value('float64'), 'videos/observation.images.cam_low/chunk_index': Value('int64'), 'videos/observation.images.cam_low/file_index': Value('int64'), 'videos/observation.images.cam_low/from_timestamp': Value('float64'), 'videos/observation.images.cam_low/to_timestamp': Value('float64'), 'videos/observation.images.cam_right_wrist/chunk_index': Value('int64'), 'videos/observation.images.cam_right_wrist/file_index': Value('int64'), 'videos/observation.images.cam_right_wrist/from_timestamp': Value('float64'), 'videos/observation.images.cam_right_wrist/to_timestamp': Value('float64'), 'tasks': List(Value('string')), 'length': Value('int64'), 'stats/observation.images.cam_high/min': List(List(List(Value('float64')))), 'stats/observation.images.cam_high/max': List(List(Lis
              ...
              ), 'stats/episode_index/min': List(Value('int64')), 'stats/episode_index/max': List(Value('int64')), 'stats/episode_index/mean': List(Value('float64')), 'stats/episode_index/std': List(Value('float64')), 'stats/episode_index/count': List(Value('int64')), 'stats/frame_index/min': List(Value('int64')), 'stats/frame_index/max': List(Value('int64')), 'stats/frame_index/mean': List(Value('float64')), 'stats/frame_index/std': List(Value('float64')), 'stats/frame_index/count': List(Value('int64')), 'stats/timestamp/min': List(Value('float64')), 'stats/timestamp/max': List(Value('float64')), 'stats/timestamp/mean': List(Value('float64')), 'stats/timestamp/std': List(Value('float64')), 'stats/timestamp/count': List(Value('int64')), 'stats/next.done/min': List(Value('bool')), 'stats/next.done/max': List(Value('bool')), 'stats/next.done/mean': List(Value('float64')), 'stats/next.done/std': List(Value('float64')), 'stats/next.done/count': List(Value('int64')), 'stats/index/min': List(Value('int64')), 'stats/index/max': List(Value('int64')), 'stats/index/mean': List(Value('float64')), 'stats/index/std': List(Value('float64')), 'stats/index/count': List(Value('int64')), 'stats/task_index/min': List(Value('int64')), 'stats/task_index/max': List(Value('int64')), 'stats/task_index/mean': List(Value('float64')), 'stats/task_index/std': List(Value('float64')), 'stats/task_index/count': List(Value('int64')), 'meta/episodes/chunk_index': Value('int64'), 'meta/episodes/file_index': Value('int64')}
              because column names don't match

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aloha_static_candy

This dataset converts the numeric time-series from lerobot/aloha_static_candy to Apache TsFile format.

Dataset Description

The source dataset was created using LeRobot. It is an ALOHA robot dataset published by the LeRobot team.

Converted Data

  • 50 episodes, 35,000 frames, 50 fps
  • One TsFile: aloha_static_candy.tsfile
  • Table name: aloha_static_candy
  • TAG columns: episode_index, task_index
  • Time: round(timestamp * 1000) milliseconds
  • Source timestamp is used to synthesize Time and is not retained as a separate field
  • observation.state[14] is flattened to observation_state_0..observation_state_13
  • action[14] is flattened to action_0..action_13
  • Aside from the redundant source timestamp column noted above, no source time-series columns or rows are dropped

Videos

Video files are not included in this converted TsFile repository. The original camera streams remain in the source HuggingFace dataset:

https://huggingface.co/datasets/lerobot/aloha_static_candy/tree/main/videos

Use episode_index, frame_index, and Time to align TsFile rows with the original videos.
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Number of rows:
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Total file size:
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Paper for smilegeng/aloha_static_candy