Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: Mismatching child array lengths
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 87, in _generate_tables
pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 273, in _recursive_load_arrays
arr = _recursive_load_arrays(dset, features[path], start, end)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 294, in _recursive_load_arrays
sarr = pa.StructArray.from_arrays(values, names=keys)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "pyarrow/array.pxi", line 4294, in pyarrow.lib.StructArray.from_arrays
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: Mismatching child array lengthsNeed 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 Franka Panda Task Data (224px Square Center Crop)
Tasks
| Task | Description | Train Demos | Val Demos |
|---|---|---|---|
| task_1 | put the pink noodle in the bowl | 90 | 10 |
| task_2 | put the bread in the bowl | 90 | 10 |
| task_3 | pour the pasta into the pan | 89 | 10 |
| task_4 | close the right cabinet door | 90 | 10 |
Data Format
Each demo is an HDF5 file with:
root/
actions: (T, 10) float64 — [pos(3), rot6d(6), gripper(1)]
agentview/video: (1, T, 3, 224, 224) uint8
eye_in_hand/video: (1, T, 3, 224, 224) uint8
extra_states/ee_states:(T, 10) float64 — current EE state, same format
task_emb_bert: (768,) float32
Image Preprocessing
Images are square center cropped from ZED VGA (672×376):
- Crop 148px from each side → 376×376
- Resize → 224×224
Action Format
10D absolute end-effector pose:
- dims 0-2: position (x, y, z) in meters
- dims 3-8: 6D rotation (first two rows of rotation matrix)
- dim 9: gripper width in meters (0=closed, 0.08=open)
Robot Setup
- Robot: Franka Panda
- Cameras: 2x ZED Mini (agentview + eye-in-hand)
- Control: 10Hz
- Data collection: teleoperation via GELLO
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