Datasets:

azithromycin
/

unitreerobotics_G1_Dex3_BlockStacking_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 71, 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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G1 Dex3 Block Stacking TsFile

This repository is an Apache TsFile conversion of unitreerobotics/G1_Dex3_BlockStacking_Dataset, a LeRobot manipulation dataset for stacking three cubic blocks on a desktop in red, yellow, and blue order.

Source dataset

Original dataset: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_BlockStacking_Dataset
Author / repository owner: Unitree Robotics (unitreerobotics)
Source-tree contributors shown by Hugging Face: Henry-Ellis, lv-1
License: Apache-2.0
Robot: Unitree G1, 7-DOF dual-arm, with three-finger Dex3 hands
Recording frequency: 30 Hz
Cameras: two head-mounted streams (cam_left_high, cam_right_high) and two wrist-mounted streams (cam_left_wrist, cam_right_wrist)
Resolution: 640x480 RGB; source video codec is AV1
Split: train (0:301 episodes)
Episodes / rows / tasks: 301 / 281,196 / 1
Source data shards: 1 chunk / 1 Parquet file; source card reports 1,204 video files
Source frame file: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet

The task description in the original card is to stack three 5 cm cubic blocks on black tape on the desktop from bottom to top in red, yellow, and blue order.

Converted files

TsFile: data/unitreerobotics_g1_dex3_blockstacking.tsfile
Table: unitreerobotics_g1_dex3_blockstacking
Rows: 281,196
Episodes: 301
Episode files: 1 merged table-model TsFile
Time precision: milliseconds
Source metadata: meta/tasks.parquet, meta/episodes/..., and meta/stats.json are retained; meta/info.json documents the conversion.

Schema

Role	Columns
TIME	`Time` (`INT64` timestamp, milliseconds)
TAG / device metadata	`episode_index`, `task_index` (original source names)
FIELD	`frame_index`, `sample_index` (renamed from source `index`)
FIELD FLOAT	`observation_state_0` ... `observation_state_27`
FIELD FLOAT	`action_0` ... `action_27`

Time = round(timestamp * 1000). The source timestamp is in seconds and restarts at zero for each episode, so Time is monotonic within each (episode_index, task_index) device. The source timestamp column is dropped after synthesis because it is redundant with Time / 1000.

Vector columns are flattened row-major while preserving source prefixes:

observation.state[28] -> observation_state_0 ... observation_state_27
action[28] -> action_0 ... action_27

The source index is renamed to sample_index; frame_index, episode_index, and task_index are preserved. No numeric state/action rows are dropped. Image/video feature columns are not written into TsFile because the local source Parquet contains numeric references only.

Encoding and compression

The compact TsFile profile is used to avoid producing a file larger than the source Parquet:

FLOAT/DOUBLE: GORILLA + LZ4
INT32/INT64: TS_2DIFF + LZ4
Time: TS_2DIFF + LZ4
BOOLEAN: RLE + LZ4 (no BOOLEAN fields are present in this dataset)
TAG columns: TsFile table/device TAG mechanism

The staged Parquet and local validation report are kept outside the upload set under .conversion_work/.

Videos and attribution

Videos are not included in this TsFile repository. They remain in the original Hugging Face dataset at:

The source metadata video pattern is videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4. episode_index and frame_index remain unchanged in the TsFile so consumers can align a time-series row with its original video frame.

Read example

import sys
sys.path.insert(0, r"D:\\code\\.deps")
from tsfile import TsFileReader

path = r"D:\\code\\py\\unitreerobotics_G1_Dex3_BlockStacking_Dataset\\data\\unitreerobotics_g1_dex3_blockstacking.tsfile"
reader = TsFileReader(path)
table = reader.get_all_table_schemas()["unitreerobotics_g1_dex3_blockstacking"]
columns = [c.get_column_name() for c in table.get_columns() if c.get_column_name() != "Time"]
with reader.query_table("unitreerobotics_g1_dex3_blockstacking", columns, batch_size=65536) as result:
    batch = result.read_arrow_batch()

Citation

Please cite the original Unitree Robotics dataset repository and the LeRobot project when using this conversion. No separate paper or BibTeX entry was provided in the source dataset card.

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