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Datasets:
zjt24
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gr00t_g1_grab_bottle_right_hand_radius_20_merged

Tasks:
Robotics
Languages:
English
Size:
100K<n<1M
Tags:
tsfile
time-series
robotics
lerobot
imitation-learning
vla
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 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.

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.

GR00T G1 Grab-Bottle Right Hand Radius-20 Merged TsFile

This dataset is a TsFile conversion of cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged, a LeRobot v2.1 Unitree G1 right-hand "grab the bottle" dataset released by CloudWalk Robotics Lab.

Modalities: Time-series. The original dataset also includes the head camera video stream observation.images.ego_view; videos are not included in this TsFile repository and remain available in the source dataset.

Source Dataset

  • Original dataset: cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged
  • License: Apache-2.0
  • Format: LeRobot v2.1
  • Task category: robotics
  • Task instruction: grab the bottle
  • Robot and controller context: Unitree G1 with Inspire FTP hands and the SONIC whole-body controller
  • Dataset construction: merged curation from the 105ep-v1 and 115ep-v3 source datasets with smoothing radius 20 and safe_frames 50
  • Source scale: 502 episodes, 120,017 frames, 1 task, 1 data chunk
  • Sampling rate: 50 fps
  • Source video feature: observation.images.ego_view at 480x640x3

Converted Files

  • TsFile shards: data/gr00t_g1_grab_bottle_right_hand_radius_20_merged_*.tsfile
  • Shard count: 502
  • Total TsFile size: 85,382,610 bytes
  • Rows: 120,017
  • Columns in staged table: 388
  • Episodes: 502
  • Tasks: 1 (task_index = 0)
  • Table name: gr00t_g1_grab_bottle_right_hand_radius_20_merged
  • Time precision: milliseconds
  • Metadata: meta/ is mirrored from the source dataset, with meta/info.json rewritten to describe the TsFile artifact and conversion mapping.

Schema

Column Role Type Notes
Time TIME INT64 round(timestamp * 1000), in milliseconds; restarts per episode
episode_index TAG INT64 Source episode identifier
task_index TAG INT64 Source task identifier
frame_index FIELD INT64 Source frame index, preserved
sample_index FIELD INT64 Renamed from source index
observation_state_0 ... observation_state_42 FIELD FLOAT Flattened from observation.state[43]
observation_eef_state_0 ... observation_eef_state_13 FIELD FLOAT Flattened from observation.eef_state[14]
action_wbc_0 ... action_wbc_42 FIELD FLOAT Flattened from action.wbc[43]
action_motion_token_0 ... action_motion_token_63 FIELD FLOAT Flattened from action.motion_token[64]
teleop_* scalar and vector columns FIELD FLOAT/INT Teleoperation retargeting and planner fields from the source metadata

Additional flattened vector groups include observation.root_orientation[4], observation.projected_gravity[3], observation.cpp_rotation_offset[4], observation.init_base_quat[4], teleop.smpl_joints[72], teleop.smpl_pose[63], teleop.body_quat_w[4], teleop.target_body_orientation[6], teleop.left_hand_joints[7], teleop.right_hand_joints[7], teleop.left_wrist_joints[3], teleop.right_wrist_joints[3], teleop.planner_movement[3], teleop.planner_facing[3], teleop.vr_3pt_position[9], and teleop.vr_3pt_orientation[18].

episode_index and task_index are TAG columns, so they form the TsFile device dimension. To read one episode, filter by episode_index.

Conversion Notes

  • The LeRobot frame Parquet files under data/chunk-000/ were staged as one merged table and written as 502 TsFile shards.
  • Vector columns were flattened by preserving the source column name, replacing . with _, and appending the element index.
  • The source timestamp column is dropped because it is redundant with Time / 1000 seconds.
  • The source index column is renamed to sample_index.
  • The source video stream observation.images.ego_view is not uploaded here. Use the original dataset videos: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged/tree/main/videos

Read Example 

from tsfile import TsFileReader

path = "data/gr00t_g1_grab_bottle_right_hand_radius_20_merged_1.tsfile"
table = "gr00t_g1_grab_bottle_right_hand_radius_20_merged"

with TsFileReader(path) as reader:
    columns = [
        "episode_index",
        "task_index",
        "frame_index",
        "sample_index",
        "action_motion_token_0",
        "action_wbc_0",
        "observation_state_0",
    ]
    with reader.query_table(table, columns, batch_size=4096) as result:
        batch = result.read_arrow_batch()
        print(batch)

Citation

The source dataset card includes BibTeX entries for this dataset, GR00T N1, SONIC, and LeRobot. Please cite the original dataset when using this conversion.
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