Hugging Face's logo

Datasets:
smilegeng
/
h1_humanoid_everyday

Tasks:
Robotics
Modalities:
Time-series
Tags:
timeseries
tsfile
time-series
robotics
LeRobot
Dataset card Data Studio Files
xet
 Community
Dataset Preview
Duplicate
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<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 487 chars omitted)
  child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, q01: list<item: double>
          child 0, item: double
      child 5, q99: list<item: double>
          child 0, item: double
      child 6, count: list<item: int64>
          child 0, item: int64
  child 1, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, q01: list<item: double>
          child 0, item: double
      child 5, q99: list<item: double>
          child 0, item: double
      child 6, count: list<item: int64>
          child 0, item: int64
  child 2, state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, q01: list<item: double>
          child 0, item: double
      child 5, q99: list<item: double>
          child 0, item: double
      child 6, count: list<item: int64>
          child 0, item: int64
instruction: string
dataset_from_index: int64
length: int64
dataset_to_index: int64
tasks: list<item: int64>
  child 0, item: int64
robot_type: string
to
{'episode_index': Value('int64'), 'tasks': List(Value('int64')), 'length': Value('int64'), 'dataset_from_index': Value('int64'), 'dataset_to_index': Value('int64'), 'robot_type': Value('string'), 'instruction': Value('string')}
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<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 487 chars omitted)
                child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, q01: list<item: double>
                        child 0, item: double
                    child 5, q99: list<item: double>
                        child 0, item: double
                    child 6, count: list<item: int64>
                        child 0, item: int64
                child 1, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, q01: list<item: double>
                        child 0, item: double
                    child 5, q99: list<item: double>
                        child 0, item: double
                    child 6, count: list<item: int64>
                        child 0, item: int64
                child 2, state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 83 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, q01: list<item: double>
                        child 0, item: double
                    child 5, q99: list<item: double>
                        child 0, item: double
                    child 6, count: list<item: int64>
                        child 0, item: int64
              instruction: string
              dataset_from_index: int64
              length: int64
              dataset_to_index: int64
              tasks: list<item: int64>
                child 0, item: int64
              robot_type: string
              to
              {'episode_index': Value('int64'), 'tasks': List(Value('int64')), 'length': Value('int64'), 'dataset_from_index': Value('int64'), 'dataset_to_index': Value('int64'), 'robot_type': Value('string'), 'instruction': Value('string')}
              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
dataset_from_index
int64
dataset_to_index
int64
robot_type
string
instruction
string
0
[ 1 ]
370
0
369
h1
1
[ 1 ]
308
370
677
h1
2
[ 1 ]
316
678
993
h1
3
[ 1 ]
273
994
1,266
h1
4
[ 1 ]
246
1,267
1,512
h1
5
[ 1 ]
288
1,513
1,800
h1
6
[ 1 ]
364
1,801
2,164
h1
7
[ 1 ]
297
2,165
2,461
h1
8
[ 1 ]
264
2,462
2,725
h1
9
[ 1 ]
252
2,726
2,977
h1
10
[ 1 ]
307
2,978
3,284
h1
11
[ 1 ]
342
3,285
3,626
h1
12
[ 1 ]
297
3,627
3,923
h1
13
[ 1 ]
320
3,924
4,243
h1
14
[ 1 ]
274
4,244
4,517
h1
15
[ 1 ]
312
4,518
4,829
h1
16
[ 1 ]
298
4,830
5,127
h1
17
[ 1 ]
264
5,128
5,391
h1
18
[ 1 ]
273
5,392
5,664
h1
19
[ 1 ]
281
5,665
5,945
h1
20
[ 1 ]
244
5,946
6,189
h1
21
[ 1 ]
277
6,190
6,466
h1
22
[ 1 ]
335
6,467
6,801
h1
23
[ 1 ]
249
6,802
7,050
h1
24
[ 1 ]
265
7,051
7,315
h1
25
[ 1 ]
305
7,316
7,620
h1
26
[ 1 ]
294
7,621
7,914
h1
27
[ 1 ]
276
7,915
8,190
h1
28
[ 1 ]
280
8,191
8,470
h1
29
[ 1 ]
284
8,471
8,754
h1
30
[ 1 ]
334
8,755
9,088
h1
31
[ 1 ]
281
9,089
9,369
h1
32
[ 1 ]
323
9,370
9,692
h1
33
[ 1 ]
310
9,693
10,002
h1
34
[ 1 ]
294
10,003
10,296
h1
35
[ 1 ]
254
10,297
10,550
h1
36
[ 1 ]
254
10,551
10,804
h1
37
[ 1 ]
255
10,805
11,059
h1
38
[ 1 ]
258
11,060
11,317
h1
39
[ 1 ]
251
11,318
11,568
h1
40
[ 2 ]
386
11,569
11,954
h1
41
[ 2 ]
311
11,955
12,265
h1
42
[ 2 ]
322
12,266
12,587
h1
43
[ 2 ]
357
12,588
12,944
h1
44
[ 2 ]
401
12,945
13,345
h1
45
[ 2 ]
309
13,346
13,654
h1
46
[ 2 ]
327
13,655
13,981
h1
47
[ 2 ]
379
13,982
14,360
h1
48
[ 2 ]
443
14,361
14,803
h1
49
[ 2 ]
450
14,804
15,253
h1
50
[ 2 ]
346
15,254
15,599
h1
51
[ 2 ]
396
15,600
15,995
h1
52
[ 2 ]
402
15,996
16,397
h1
53
[ 2 ]
291
16,398
16,688
h1
54
[ 2 ]
293
16,689
16,981
h1
55
[ 2 ]
313
16,982
17,294
h1
56
[ 2 ]
333
17,295
17,627
h1
57
[ 2 ]
301
17,628
17,928
h1
58
[ 2 ]
309
17,929
18,237
h1
59
[ 2 ]
326
18,238
18,563
h1
60
[ 2 ]
295
18,564
18,858
h1
61
[ 2 ]
282
18,859
19,140
h1
62
[ 2 ]
298
19,141
19,438
h1
63
[ 2 ]
329
19,439
19,767
h1
64
[ 2 ]
320
19,768
20,087
h1
65
[ 2 ]
297
20,088
20,384
h1
66
[ 2 ]
300
20,385
20,684
h1
67
[ 2 ]
298
20,685
20,982
h1
68
[ 2 ]
316
20,983
21,298
h1
69
[ 2 ]
352
21,299
21,650
h1
70
[ 2 ]
329
21,651
21,979
h1
71
[ 2 ]
271
21,980
22,250
h1
72
[ 2 ]
285
22,251
22,535
h1
73
[ 2 ]
255
22,536
22,790
h1
74
[ 2 ]
307
22,791
23,097
h1
75
[ 2 ]
235
23,098
23,332
h1
76
[ 2 ]
301
23,333
23,633
h1
77
[ 2 ]
255
23,634
23,888
h1
78
[ 2 ]
267
23,889
24,155
h1
79
[ 2 ]
341
24,156
24,496
h1
80
[ 3 ]
312
24,497
24,808
h1
81
[ 3 ]
306
24,809
25,114
h1
82
[ 3 ]
303
25,115
25,417
h1
83
[ 3 ]
305
25,418
25,722
h1
84
[ 3 ]
308
25,723
26,030
h1
85
[ 3 ]
313
26,031
26,343
h1
86
[ 3 ]
307
26,344
26,650
h1
87
[ 3 ]
254
26,651
26,904
h1
88
[ 3 ]
257
26,905
27,161
h1
89
[ 3 ]
267
27,162
27,428
h1
90
[ 3 ]
395
27,429
27,823
h1
91
[ 3 ]
300
27,824
28,123
h1
92
[ 3 ]
256
28,124
28,379
h1
93
[ 3 ]
311
28,380
28,690
h1
94
[ 3 ]
254
28,691
28,944
h1
95
[ 3 ]
370
28,945
29,314
h1
96
[ 3 ]
248
29,315
29,562
h1
97
[ 3 ]
274
29,563
29,836
h1
98
[ 3 ]
325
29,837
30,161
h1
99
[ 3 ]
264
30,162
30,425
h1
End of preview.

h1_humanoid_everyday (TsFile)

Apache TsFile version of the LeRobot dataset X-Humanoid/HEX-Datasets/h1_humanoid_everyday.

Overview

Everyday humanoid manipulation demonstrations on a Unitree H1 robot.

  • Robot: h1 (humanoid)
  • Episodes: 4883
  • Frames: 1,659,318
  • Sampling rate: 30 fps
  • Tasks: 122

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..38, action_0..25) as single-precision FLOAT.

Stored across data/h1_humanoid_everyday_1.tsfile and _2.tsfile. next.done is kept as next_done. Two byte-identical duplicate source episodes were excluded to avoid duplicate timestamps.

The robot's the egocentric camera stream 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
58
Total file size:
342 MB