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Datasets:
xenorobotics
/
new-21

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The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
episodes: list<item: struct<episode_index: int64, start_frame: int64, end_frame: int64>>
vs
codebase_version: string
robot_type: string
total_episodes: int64
total_frames: int64
fps: int64
chunks_size: int64
features: struct<observation.images.front: struct<shape: list<item: int64>, dtype: string, names: list<item: string>>, observation.state: struct<shape: list<item: int64>, dtype: string, names: null>, action: struct<shape: list<item: int64>, dtype: string, names: null>, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>, next.done: struct<dtype: string, shape: list<item: int64>, names: null>, next.success: struct<dtype: string, shape: list<item: int64>, names: null>, task_index: struct<dtype: string, shape: list<item: int64>, names: null>, index: struct<dtype: string, shape: list<item: int64>, names: null>>
videos: list<item: struct<path: string, timestamp: double>>
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 559, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              episodes: list<item: struct<episode_index: int64, start_frame: int64, end_frame: int64>>
              vs
              codebase_version: string
              robot_type: string
              total_episodes: int64
              total_frames: int64
              fps: int64
              chunks_size: int64
              features: struct<observation.images.front: struct<shape: list<item: int64>, dtype: string, names: list<item: string>>, observation.state: struct<shape: list<item: int64>, dtype: string, names: null>, action: struct<shape: list<item: int64>, dtype: string, names: null>, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>, next.done: struct<dtype: string, shape: list<item: int64>, names: null>, next.success: struct<dtype: string, shape: list<item: int64>, names: null>, task_index: struct<dtype: string, shape: list<item: int64>, names: null>, index: struct<dtype: string, shape: list<item: int64>, names: null>>
              videos: list<item: struct<path: string, timestamp: double>>

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Trimmed Dataset

Clean dataset with 1 episode from arsenxeno/record-test.

Episodes are numbered sequentially: 0.

Statistics

  • Total episodes: 1
  • Total frames: N/A
  • Episodes included: [0]

Usage 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="xenorobotics/new-21",
    version="v2.0"
)

Training 

lerobot train \
    dataset_repo_id=xenorobotics/new-21 \
    policy=diffusion \
    env=so100_real \
    hydra.run.dir=outputs/train
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