Datasets:
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 "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 289, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 64, in _split_generators
with h5py.File(first_file, "r") as h5:
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/h5py/_hl/files.py", line 564, in __init__
fid = make_fid(name, mode, userblock_size, fapl, fcpl, swmr=swmr)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/h5py/_hl/files.py", line 238, in make_fid
fid = h5f.open(name, flags, fapl=fapl)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "h5py/_objects.pyx", line 56, in h5py._objects.with_phil.wrapper
File "h5py/_objects.pyx", line 57, in h5py._objects.with_phil.wrapper
File "h5py/h5f.pyx", line 102, in h5py.h5f.open
FileNotFoundError: [Errno 2] Unable to synchronously open file (unable to open file: name = 'hf://datasets/pravsels/arx5-robot-dataset@a329a581efb7baae67af07855d63167da83cbeef/arx5_subset_train.h5', errno = 2, error message = 'No such file or directory', flags = 0, o_flags = 0)
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 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 343, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 294, 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.
ARX5 Manipulation Dataset
Robotic manipulation demos collected on a single ARX5 arm, of tabletop tasks with dual RGB cameras and DINOv2 embeddings of the images.
Converted from Ville Kuosmanen's LeRobot v2.1 datasets into a unified HDF5 format.
Hardware
- Robot: ARX5 single arm (7-DoF)
- Cameras: Wrist-mounted + front-facing scene camera
Stats
| Trajectories | 1,704 |
| Total frames | 860,076 |
| Frames per trajectory | 4 – 3,034 (median 397) |
| Total size | 1 TB+ |
Quick Start
import h5py
with h5py.File("arx5_datasets_part_001.h5", "r") as f:
traj = f["trajectory_0042"]
actions = traj["actions"][:]
images = traj["camera_0"][:]
The dataset is split across 18 HDF5 files (100 trajectories each), from arx5_datasets_part_001.h5 to arx5_datasets_part_018.h5
Each part contains trajectories renumbered trajectory_0000 through trajectory_0099 within the chunk.
What's Inside
Tasks: Picking coffee props, dropping a footbag into a dice tower, rice cooker assembly (multi-step), plus DAgger correction runs.
Per frame:
actions/states— 7-DoF joint commands and observationscamera_0/camera_1— 480×640 RGB (wrist / scene)cam_rs_embd/cam_zed_embd— DINOv2 patch embeddings (256×384)
Source Datasets
This dataset aggregates the following HuggingFace datasets:
| Dataset | Trajectories |
|---|---|
| villekuosmanen/dAgger_coffee_prop | 128 |
| villekuosmanen/rice-cooker_step_2 | 100 |
| villekuosmanen/rice-cooker_step_3 | 100 |
| villekuosmanen/drop_footbag_into_dice_tower | 100 |
| villekuosmanen/rice-cooker_step_0 | 99 |
| villekuosmanen/pick_coffee_prop_20Hz | 99 |
| villekuosmanen/dAgger_plus_v2_coffee_prop | 60 |
| villekuosmanen/dAgger_coffee_prop_2.1.0 | 40 |
| villekuosmanen/dAgger_coffee_prop_2.2.0 | 40 |
| villekuosmanen/dAgger_coffee_prop_2.3.0 | 40 |
| villekuosmanen/dAgger_coffee_prop_2.4.0 | 40 |
| villekuosmanen/dAgger_coffee_prop_3.1.1 | 40 |
| villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.4.0 | 40 |
| villekuosmanen/dAgger_test | 40 |
| villekuosmanen/fail_drop_footbag_into_dice_tower | 40 |
| villekuosmanen/dAgger_coffee_prop_3.0.0 | 39 |
| villekuosmanen/eval_dAgger_drop_footbag_into_dice_tower_1.7.0 | 37 |
| villekuosmanen/eval_26Jan25 | 36 |
| villekuosmanen/eval_27Jan25 | 36 |
| villekuosmanen/eval_2Feb25_v2 | 36 |
| villekuosmanen/eval_3Feb25 | 36 |
| villekuosmanen/pick_coffee_filters | 30 |
| villekuosmanen/pick_coffee_prop_20Hz_3 | 30 |
| villekuosmanen/eval_29Jan25 | 30 |
| villekuosmanen/eval_31Jan25_v2 | 30 |
| villekuosmanen/eval_8Jun25 | 29 |
| villekuosmanen/eval_30May25 | 27 |
| villekuosmanen/eval_8Jun25_aug | 27 |
| villekuosmanen/eval_30May25_alt | 24 |
| villekuosmanen/eval_31May25 | 24 |
| villekuosmanen/eval_3Mar25 | 24 |
| villekuosmanen/eval_28May25 | 23 |
| villekuosmanen/eval_4Apr25 | 23 |
| villekuosmanen/eval_31Jan25 | 22 |
| villekuosmanen/drop_footbag_into_dice_tower_continuous | 20 |
| villekuosmanen/dAgger_plus_test | 20 |
| villekuosmanen/dAgger_plus_coffee_prop | 19 |
| villekuosmanen/eval_6Mar25 | 19 |
| villekuosmanen/eval_26Jun25_4 | 12 |
| villekuosmanen/eval_dropthefootbagintothedicetower_40a5ea49 | 12 |
| villekuosmanen/pick_coffee_prop_20Hz_alt | 12 |
| villekuosmanen/eval_dropthefootbagintothedicetower_1afce3af | 10 |
| villekuosmanen/eval_dropthefootbagintothedicetower_9bbb4c34 | 5 |
| villekuosmanen/arx5-eef-pose-test | 2 |
| villekuosmanen/arx5-vel-effort-test | 2 |
| villekuosmanen/dAgger_plus_extra_test | 2 |
License
Apache 2.0
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