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/python3.14/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/webdataset/webdataset.py", line 81, in _split_generators
first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
fs: fsspec.AbstractFileSystem = fsspec.filesystem("memory")
~~~~~~~~~~~~~~~~~^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 302, in filesystem
cls = get_filesystem_class(protocol)
File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 239, in get_filesystem_class
raise ValueError(f"Protocol not known: {protocol}")
ValueError: Protocol not known: memory
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.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.
Gripper Data Share
Curated robot-manipulation data for sharing. Two parts:
- Complete episodes of RH20T and DROID, packed as
.tarshards — every episode included here has all camera-view videos + a text caption + the action (robot state) data. Any episode missing one of these three was dropped. - Usable-episode lists for AgiBotWorld-Beta and AgiBotWorld2026 (these two datasets are not shipped here — only the lists of episodes whose FK skeleton projected correctly, so you can filter the original datasets).
Contents
| File(s) | What |
|---|---|
RH20T_000.tar … RH20T_005.tar |
RH20T complete episodes (6 shards) |
droid_000.tar … droid_033.tar |
DROID complete episodes (34 shards) |
meta_000.tar |
Shared assets: RH20T calib/ + urdf/ + task_description.json, DROID aggregated-annotations + manifest.json |
AgiBotWorld-Beta_usable_episodes.txt |
146,771 usable AgiBotWorld-Beta episodes (task/episode) |
AgiBotWorld2026_usable_episodes.txt |
19,329 usable AgiBotWorld2026 episodes (Domain/Scene/task/range/ep) |
Each shard is ≤ 25 GB; total tar data ≈ 0.94 TiB.
Download & extract
huggingface-cli download tqliu/gripper_data_share --repo-type dataset --local-dir gripper_data_share
cd gripper_data_share
for f in *.tar; do tar -xf "$f"; done # reconstructs RH20T/ and droid/
Extraction yields:
RH20T/RH20T_cfg{5,6,7}/<episode>/... # + shared calib/, urdf/, task_description.json
droid/<lab>/<success|failure>/<date>/<episode>/... # + aggregated-annotations, manifest.json
Episode contents
RH20T — RH20T/RH20T_cfg{5,6,7}/task_..._cfg_N/
cam_<serial>/color.mp4+cam_<serial>/timestamps.npy— all camera views (640×360)transformed/— action & state:joint.npy,tcp.npy,tcp_base.npy,gripper.npy,force_torque*.npy,high_freq_data.npy(+tactile.npywhere present)metadata.json— calibration id, camera serials, timestampscaption.json—{task_id, user_id, scene_id, cfg, task_description_english, task_description_chinese}. RH20T captions are task-level (all episodes of a task share the sentence), joined fromtask_description.jsonby the task id in the folder name (100% coverage).- Camera intrinsics/extrinsics are in the shared
RH20T/RH20T_cfg{N}/calib/<calib_id>/(look upmetadata.json["calib"]).
DROID — droid/<lab>/<success|failure>/<date>/<episode>/
recordings/MP4/<serial>.mp4— 3 camera views (2 exterior + 1 wrist, 1280×720)trajectory.h5— action & state (joint positions, cartesian, gripper, timestamps)metadata_<uuid>.jsoncaption.json—{uuid, language_instructions}. DROID captions are per-episode human language instructions (from the DROID aggregated annotations). Only episodes with a non-empty instruction are included.
Caption ↔ video correspond by construction (same episode folder; verified by task_id / uuid match).
Selection criteria (episode kept only if complete)
- RH20T: has caption +
transformed/joint.npy+ a color.mp4 for every camera view (the force/tactile sensorf0461559is not counted as a camera). 2,862 episodes kept. - DROID: has
trajectory.h5+ ≥3 camera MP4s + a non-empty language instruction. 39,986 kept (dropped mostly for missing caption — ~54% of DROID episodes carry a language instruction).
AgiBot usable lists
AgiBotWorld-Beta and AgiBotWorld2026 are not included here. The two *_usable_episodes.txt
files list the episodes whose forward-kinematics skeleton projected correctly (complete render
output); use them to filter the original datasets. Beta lines are task/episode; 2026 lines are
Domain/Scene/task/range/ep.
Counts
| Dataset | Episodes (complete / usable) |
|---|---|
| RH20T | 2,862 |
| DROID | 39,986 |
| AgiBotWorld-Beta (list only) | 146,771 |
| AgiBotWorld2026 (list only) | 19,329 |
- Downloads last month
- 45