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Datasets:
smilegeng
/
berkeley_cable_routing_lerobot

Tasks:
Robotics
Modalities:
Time-series
Tags:
timeseries
tsfile
time-series
robotics
LeRobot
License:
Dataset card Data Studio Files
xet
 Community
Dataset Preview
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The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
episode_index: int64
stats: struct<observation.images.top_image: struct<min: list<item: list<item: list<item: double>>>, max: li (... 1977 chars omitted)
  child 0, observation.images.top_image: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
      child 0, min: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
              child 0, item: list<item: double>
                  child 0, item: double
      child 1, max: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
              child 0, item: list<item: double>
                  child 0, item: double
      child 2, mean: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
              child 0, item: list<item: double>
                  child 0, item: double
      child 3, std: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
              child 0, item: list<item: double>
                  child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 1, observation.images.image: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
      child 0, min: list<item: list<item: list<item: double>>>
          child 0, item: list<item: list<item: double>>
...
x: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 9, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 10, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
      child 0, min: list<item: int64>
          child 0, item: int64
      child 1, max: list<item: int64>
          child 0, item: int64
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
length: int64
tasks: list<item: string>
  child 0, item: string
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_index: int64
              stats: struct<observation.images.top_image: struct<min: list<item: list<item: list<item: double>>>, max: li (... 1977 chars omitted)
                child 0, observation.images.top_image: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
                    child 0, min: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
                            child 0, item: list<item: double>
                                child 0, item: double
                    child 1, max: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
                            child 0, item: list<item: double>
                                child 0, item: double
                    child 2, mean: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
                            child 0, item: list<item: double>
                                child 0, item: double
                    child 3, std: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
                            child 0, item: list<item: double>
                                child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 1, observation.images.image: struct<min: list<item: list<item: list<item: double>>>, max: list<item: list<item: list<item: double (... 129 chars omitted)
                    child 0, min: list<item: list<item: list<item: double>>>
                        child 0, item: list<item: list<item: double>>
              ...
              x: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 9, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 10, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
                    child 0, min: list<item: int64>
                        child 0, item: int64
                    child 1, max: list<item: int64>
                        child 0, item: int64
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
              length: int64
              tasks: list<item: string>
                child 0, item: string
              to
              {'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
              because column names don't match
              
              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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

episode_index
int64
tasks
list
length
int64
0
[ "route cable" ]
25
1
[ "route cable" ]
24
2
[ "route cable" ]
47
3
[ "route cable" ]
32
4
[ "route cable" ]
25
5
[ "route cable" ]
47
6
[ "route cable" ]
12
7
[ "route cable" ]
17
8
[ "route cable" ]
31
9
[ "route cable" ]
18
10
[ "route cable" ]
26
11
[ "route cable" ]
57
12
[ "route cable" ]
38
13
[ "route cable" ]
21
14
[ "route cable" ]
18
15
[ "route cable" ]
22
16
[ "route cable" ]
23
17
[ "route cable" ]
20
18
[ "route cable" ]
11
19
[ "route cable" ]
29
20
[ "route cable" ]
25
21
[ "route cable" ]
28
22
[ "route cable" ]
13
23
[ "route cable" ]
30
24
[ "route cable" ]
33
25
[ "route cable" ]
11
26
[ "route cable" ]
22
27
[ "route cable" ]
29
28
[ "route cable" ]
39
29
[ "route cable" ]
18
30
[ "route cable" ]
17
31
[ "route cable" ]
56
32
[ "route cable" ]
20
33
[ "route cable" ]
16
34
[ "route cable" ]
16
35
[ "route cable" ]
28
36
[ "route cable" ]
32
37
[ "route cable" ]
15
38
[ "route cable" ]
28
39
[ "route cable" ]
2
40
[ "route cable" ]
34
41
[ "route cable" ]
8
42
[ "route cable" ]
22
43
[ "route cable" ]
18
44
[ "route cable" ]
31
45
[ "route cable" ]
29
46
[ "route cable" ]
27
47
[ "route cable" ]
16
48
[ "route cable" ]
23
49
[ "route cable" ]
24
50
[ "route cable" ]
13
51
[ "route cable" ]
20
52
[ "route cable" ]
19
53
[ "route cable" ]
19
54
[ "route cable" ]
18
55
[ "route cable" ]
28
56
[ "route cable" ]
41
57
[ "route cable" ]
43
58
[ "route cable" ]
30
59
[ "route cable" ]
30
60
[ "route cable" ]
22
61
[ "route cable" ]
21
62
[ "route cable" ]
12
63
[ "route cable" ]
31
64
[ "route cable" ]
18
65
[ "route cable" ]
26
66
[ "route cable" ]
21
67
[ "route cable" ]
51
68
[ "route cable" ]
15
69
[ "route cable" ]
23
70
[ "route cable" ]
30
71
[ "route cable" ]
19
72
[ "route cable" ]
22
73
[ "route cable" ]
14
74
[ "route cable" ]
30
75
[ "route cable" ]
15
76
[ "route cable" ]
14
77
[ "route cable" ]
49
78
[ "route cable" ]
26
79
[ "route cable" ]
89
80
[ "route cable" ]
20
81
[ "route cable" ]
26
82
[ "route cable" ]
13
83
[ "route cable" ]
29
84
[ "route cable" ]
25
85
[ "route cable" ]
12
86
[ "route cable" ]
11
87
[ "route cable" ]
7
88
[ "route cable" ]
14
89
[ "route cable" ]
14
90
[ "route cable" ]
9
91
[ "route cable" ]
35
92
[ "route cable" ]
64
93
[ "route cable" ]
2
94
[ "route cable" ]
58
95
[ "route cable" ]
69
96
[ "route cable" ]
22
97
[ "route cable" ]
2
98
[ "route cable" ]
40
99
[ "route cable" ]
30
End of preview.

berkeley_cable_routing_lerobot (TsFile)

Apache TsFile version of the LeRobot dataset ygtxr1997/berkeley_cable_routing_lerobot.

Overview

Berkeley cable-routing manipulation on a Franka arm.

  • Robot: Franka
  • Episodes: 1482
  • Frames: 38,240
  • Sampling rate: 10 fps
  • Tasks: 1

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000), restarting per episode.
  • episode_index / task_index (TAG) — the device dimension. Query a single episode with WHERE episode_index=N.
  • FIELD — frame_index, sample_index, and the flattened state/action vectors (observation_state_0..7, action_0..6) as single-precision FLOAT.

The robot's four camera views are time-series-irrelevant and not uploaded to this repository; get them from the original dataset (its videos/ directory). The source meta/ is mirrored here.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

Downloads last month
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Total file size:
9 MB