The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 291, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 364, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0
During handling of the above exception, another exception occurred:
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/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 306, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
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.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.
Real-world robot teleoperation tasks / 真实机器人遥操作任务
Raw GELLO teleoperation recordings from a Franka FR3 with a Robotiq 2F-85 gripper.
New recordings / 2026-11-05 新采集数据
| Task / 任务 | Directory | Episodes | Samples | Original size |
|---|---|---|---|---|
| 把番茄放进盒子 | place_tomato_in_box | 104 | 41,302 | 342.95 MB |
| 把绿色方块叠到黄色方块上 | stack_green_cube_on_yellow_cube | 64 | 22,687 | 184.42 MB |
All 168 episodes are included, with original recording files and available review.json files unchanged. Capture status: 154 completed and 14 interrupted. Manual review: 106 passed, 42 failed, 20 unlabeled. Capture completion and manual review are separate fields; no success labels were inferred or changed. Use each task’s episodes.csv to select recordings.
Previous recordings / 原有三个任务
The original three tasks (194 episodes) and their documentation/manifest were moved intact to randon_initialize_data/. The directory spelling is intentional. Its manifest paths remain relative to that archive directory. Source revision: 406d7494d4a956795c72782659cb4813c9b70698.
The root manifest.json indexes the complete current repository; its file list excludes itself. Task metadata and episode IDs are preserved. No LeRobot conversion was performed.
Recording format
This repository preserves the project's raw recording format; it is not a converted LeRobot dataset. trajectory.npz can be opened with numpy.load(path, allow_pickle=False).
| Array | Meaning |
|---|---|
action (T × 8) |
Seven absolute joint targets (radians), followed by gripper closedness |
proprioception (T × 8) |
Seven measured joint positions (radians), followed by measured gripper closedness |
joint_velocities (T × 7) |
Measured joint velocities |
eef_pose (T × 7) |
XYZ position in metres and WXYZ quaternion of the configured Franka end effector |
gello_input (T × 8) |
GELLO input before velocity limiting, including gripper closedness |
time_seconds |
Monotonic time relative to the episode start |
phase |
recording or stopping |
action_valid, proprioception_valid, gello_input_valid |
Masks identifying valid values; missing values may use zero placeholders |
command_submitted, command_id, submission_status |
Command submission tracking |
Gripper convention: 0 = open, 1 = closed. Optional missing timestamps may be NaN. samples.jsonl also retains the submitted short trajectories and gripper events. metadata.json contains hardware configuration, recording statistics, and the final observation.
Video frames and numerical samples share a monotonic start time but are not index-synchronized. Align them using time_seconds and the frame JSONL records, which also contain source timestamps and duplicate/placeholder/gap flags. ROS source timestamps must not be directly subtracted from monotonic timestamps. Filter phase == "recording" if stopping-tail samples are unwanted.
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