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Datasets:
zjt24
/
aloha_static_screw_driver

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
ArXiv:
Tags:
LeRobot
aloha
tsfile
timeseries
robotics
format:tsfile
License:
Dataset card Files
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Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the 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 68, 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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ALOHA Static Screw Driver (TsFile)

This repository provides the numeric time-series portion of lerobot/aloha_static_screw_driver in Apache TsFile format. The original dataset was created with LeRobot for ALOHA bimanual manipulation.

Modalities: Time-series.

Source Dataset

According to the source meta/info.json, the dataset has 50 episodes, 20,000 frames, one task, and a 50 Hz sampling rate.

Files and Scale

  • data/aloha_static_screw_driver.tsfile — one TsFile containing all 20,000 numeric observations from the train split.
  • meta/ — mirrored source metadata with converted TsFile metadata.

TsFile Schema

Table: aloha_static_screw_driver

Role Columns
Time Time (INT64, milliseconds)
TAG episode_index, task_index
FIELD frame_index, sample_index, next_done
FIELD observation_state_0 through observation_state_13 (FLOAT)
FIELD observation_effort_0 through observation_effort_13 (FLOAT)
FIELD action_0 through action_13 (FLOAT)

Conversion Notes

  • The original 14-element observation.state, observation.effort, and action vectors are flattened into scalar FLOAT measurements. Full source prefixes are retained, with . replaced by _.
  • Time = round(timestamp * 1000) has millisecond precision and restarts for every episode. The redundant source timestamp field is omitted because it is recoverable as Time / 1000.
  • frame_index is preserved; source index is renamed to sample_index; the boolean next.done is retained as the integer field next_done.
  • The four source camera streams are not included in this repository. Videos remain available from the original dataset.

Reading the TsFile 

from tsfile import TsFileReader

reader = TsFileReader("data/aloha_static_screw_driver.tsfile")
print(reader.get_all_table_schemas())

Citation 

@article{Zhao2023LearningFB,
  title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
  author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
  journal={RSS},
  year={2023},
  url={https://arxiv.org/abs/2304.13705}
}
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Paper for zjt24/aloha_static_screw_driver