Datasets:

smilegeng
/

cmu_stretch

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 66, 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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CMU Stretch TsFile

This dataset is a TsFile conversion of the Hugging Face dataset lerobot/cmu_stretch, created using LeRobot.

TsFile Conversion

The numeric robot state, action, reward, done, time, and task fields are stored in one TsFile table:

File: data/cmu_stretch.tsfile
Table: cmu_stretch
Time column: Time, computed as round(timestamp * 1000) in milliseconds
TAG columns: episode_index, task_index
Rows: 25,016
Granularity: all train episodes merged into one TsFile table

Vector source columns are flattened into scalar TsFile FIELD columns:

observation.state -> observation_state_0 ... observation_state_3
action -> action_0 ... action_7

Scalar source columns are normalized as follows:

next.reward -> next_reward
next.done -> next_done
index -> sample_index
frame_index is kept unchanged

The source timestamp column is dropped because it is represented by Time / 1000 seconds after conversion.

Video Policy

Camera videos are not included in this TsFile repository. Video data remains in the original Hugging Face dataset:

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

The converted meta/info.json keeps the original video path under video_path_original and documents the conversion in tsfile_conversion.

Citation

@inproceedings{bahl2023affordances,
    title={Affordances from Human Videos as a Versatile Representation for Robotics},
    author={Bahl, Shikhar and Mendonca, Russell and Chen, Lili and Jain, Unnat and Pathak, Deepak},
    booktitle={CVPR},
    year={2023}
}

@article{mendonca2023structured,
    title={Structured World Models from Human Videos},
    author={Mendonca, Russell and Bahl, Shikhar and Pathak, Deepak},
    journal={CoRL},
    year={2023}
}