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Datasets:
BinceQu
/
RoboHarness-assets

ArXiv:
Tags:
robotics
embodied-ai
agents
License:
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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:    CastError
Message:      Couldn't cast
recorded_at: string
scope: string
source_revision: string
behavior_revision: string
python: string
installation: struct<status: string, completed_at: string, upstream_arguments: list<item: string>, build_tools_req (... 443 chars omitted)
  child 0, status: string
  child 1, completed_at: string
  child 2, upstream_arguments: list<item: string>
      child 0, item: string
  child 3, build_tools_requirement: list<item: string>
      child 0, item: string
  child 4, final_warp_requirement: string
  child 5, lerobot_provenance: struct<url: string, vcs_info: struct<commit_id: string, requested_revision: string, vcs: string>>
      child 0, url: string
      child 1, vcs_info: struct<commit_id: string, requested_revision: string, vcs: string>
          child 0, commit_id: string
          child 1, requested_revision: string
          child 2, vcs: string
  child 6, network_recovery: struct<git: string, torch_cluster: string, wheel: struct<downloaded_at: string, url: string, bytes:  (... 74 chars omitted)
      child 0, git: string
      child 1, torch_cluster: string
      child 2, wheel: struct<downloaded_at: string, url: string, bytes: int64, sha256: string, md5_matches_upstream_etag:  (... 23 chars omitted)
          child 0, downloaded_at: string
          child 1, url: string
          child 2, bytes: int64
          child 3, sha256: string
          child 4, md5_matches_upstream_etag: bool
          child 5, protocol: string
  child 7, pip_check: struct<exit_code: int64, stdo
...
d_existing_tools: list<item: null>
      child 0, item: null
  child 6, results: list<item: struct<variant: string, request_sha256: string, tool_count: int64, input_tokens: int64, c (... 57 chars omitted)
      child 0, item: struct<variant: string, request_sha256: string, tool_count: int64, input_tokens: int64, context_mana (... 45 chars omitted)
          child 0, variant: string
          child 1, request_sha256: string
          child 2, tool_count: int64
          child 3, input_tokens: int64
          child 4, context_management: struct<original_input_tokens: int64>
              child 0, original_input_tokens: int64
  child 7, interpretation: string
created_at: string
tested_file_sha256: struct<harness/claude_code/src/embodied_claude_code/profile.py: string, harness/claude_code/profiles (... 298 chars omitted)
  child 0, harness/claude_code/src/embodied_claude_code/profile.py: string
  child 1, harness/claude_code/profiles/archived-native-context.json: string
  child 2, harness/claude_code/tests/test_config_profile.py: string
  child 3, harness/claude_code/tests/test_archive_context.py: string
  child 4, harness/claude_code/tests/test_native_skill_lifecycle.py: string
  child 5, roboharness/native_context.py: string
  child 6, tests/test_native_context.py: string
observed_result_codes: struct<remote_api_error: int64, tool_policy_error: int64, transport_error: int64>
  child 0, remote_api_error: int64
  child 1, tool_policy_error: int64
  child 2, transport_error: int64
to
{'diagnostic_only': Value('bool'), 'created_at': Value('string'), 'finding': Value('string'), 'paper_period_profile': {'path': Value('string'), 'sha256': Value('string'), 'mtime_utc': Value('string'), 'payload': {'schema_version': Value('string'), 'name': Value('string'), 'description': Value('string'), 'allow_tools': List(Value('string')), 'deny_tools': List(Value('string')), 'fixed_arguments': {}}}, 'sources_verified': Value('int64'), 'observed_call_counts': {'plan_press_point': Value('int64'), 'adjust_plan_pose': Value('int64')}, 'cases_with_restored_tool_calls': List({'task': Value('string'), 'instance_id': Value('int64'), 'source': Value('string'), 'sha256': Value('string'), 'calls': List({'tool': Value('string'), 'timestamp': Value('string'), 'tool_use_id': Value('string'), 'arguments': {'image_id': Value('string'), 'plan_arm': Value('string'), 'u': Value('int64'), 'v': Value('int64'), 'seed': Value('int64'), 'plan_id': Value('string'), 'roll': Value('int64'), 'upward': Value('float64'), 'leftward': Value('float64'), 'forward': Value('float64')}, 'result_is_error': Value('bool'), 'result_recorded': Value('bool'), 'result_text_preview': Value('string')})}), 'limitations': List(Value('string')), 'observed_result_codes': {'remote_api_error': Value('int64'), 'tool_policy_error': Value('int64'), 'transport_error': Value('int64')}, 'token_probe': {'diagnostic_only': Value('bool'), 'method': Value('string'), 'before': Value('string'), 'after': Value('string'), 'added_tools': L
...
t': {'original_input_tokens': Value('int64')}}), 'interpretation': Value('string')}, 'archived_first_input': {'task': Value('string'), 'instance_id': Value('int64'), 'source': Value('string'), 'source_sha256': Value('string'), 'timestamp': Value('string'), 'usage': {'input_tokens': Value('int64'), 'cache_creation_input_tokens': Value('int64'), 'cache_read_input_tokens': Value('int64'), 'output_tokens': Value('int64'), 'output_tokens_details': {'thinking_tokens': Value('int64')}, 'server_tool_use': {'web_search_requests': Value('int64'), 'web_fetch_requests': Value('int64')}, 'service_tier': Value('string'), 'cache_creation': {'ephemeral_1h_input_tokens': Value('int64'), 'ephemeral_5m_input_tokens': Value('int64')}, 'inference_geo': Value('string'), 'iterations': List(Value('null')), 'speed': Value('string')}}, 'regressions': List({'log': Value('string'), 'tests': Value('int64'), 'passed': Value('int64'), 'skipped': Value('int64'), 'sha256': Value('string')}), 'base_revision': Value('string'), 'tested_file_sha256': {'harness/claude_code/src/embodied_claude_code/profile.py': Value('string'), 'harness/claude_code/profiles/archived-native-context.json': Value('string'), 'harness/claude_code/tests/test_config_profile.py': Value('string'), 'harness/claude_code/tests/test_archive_context.py': Value('string'), 'harness/claude_code/tests/test_native_skill_lifecycle.py': Value('string'), 'roboharness/native_context.py': Value('string'), 'tests/test_native_context.py': Value('string')}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                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 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              recorded_at: string
              scope: string
              source_revision: string
              behavior_revision: string
              python: string
              installation: struct<status: string, completed_at: string, upstream_arguments: list<item: string>, build_tools_req (... 443 chars omitted)
                child 0, status: string
                child 1, completed_at: string
                child 2, upstream_arguments: list<item: string>
                    child 0, item: string
                child 3, build_tools_requirement: list<item: string>
                    child 0, item: string
                child 4, final_warp_requirement: string
                child 5, lerobot_provenance: struct<url: string, vcs_info: struct<commit_id: string, requested_revision: string, vcs: string>>
                    child 0, url: string
                    child 1, vcs_info: struct<commit_id: string, requested_revision: string, vcs: string>
                        child 0, commit_id: string
                        child 1, requested_revision: string
                        child 2, vcs: string
                child 6, network_recovery: struct<git: string, torch_cluster: string, wheel: struct<downloaded_at: string, url: string, bytes:  (... 74 chars omitted)
                    child 0, git: string
                    child 1, torch_cluster: string
                    child 2, wheel: struct<downloaded_at: string, url: string, bytes: int64, sha256: string, md5_matches_upstream_etag:  (... 23 chars omitted)
                        child 0, downloaded_at: string
                        child 1, url: string
                        child 2, bytes: int64
                        child 3, sha256: string
                        child 4, md5_matches_upstream_etag: bool
                        child 5, protocol: string
                child 7, pip_check: struct<exit_code: int64, stdo
              ...
              d_existing_tools: list<item: null>
                    child 0, item: null
                child 6, results: list<item: struct<variant: string, request_sha256: string, tool_count: int64, input_tokens: int64, c (... 57 chars omitted)
                    child 0, item: struct<variant: string, request_sha256: string, tool_count: int64, input_tokens: int64, context_mana (... 45 chars omitted)
                        child 0, variant: string
                        child 1, request_sha256: string
                        child 2, tool_count: int64
                        child 3, input_tokens: int64
                        child 4, context_management: struct<original_input_tokens: int64>
                            child 0, original_input_tokens: int64
                child 7, interpretation: string
              created_at: string
              tested_file_sha256: struct<harness/claude_code/src/embodied_claude_code/profile.py: string, harness/claude_code/profiles (... 298 chars omitted)
                child 0, harness/claude_code/src/embodied_claude_code/profile.py: string
                child 1, harness/claude_code/profiles/archived-native-context.json: string
                child 2, harness/claude_code/tests/test_config_profile.py: string
                child 3, harness/claude_code/tests/test_archive_context.py: string
                child 4, harness/claude_code/tests/test_native_skill_lifecycle.py: string
                child 5, roboharness/native_context.py: string
                child 6, tests/test_native_context.py: string
              observed_result_codes: struct<remote_api_error: int64, tool_policy_error: int64, transport_error: int64>
                child 0, remote_api_error: int64
                child 1, tool_policy_error: int64
                child 2, transport_error: int64
              to
              {'diagnostic_only': Value('bool'), 'created_at': Value('string'), 'finding': Value('string'), 'paper_period_profile': {'path': Value('string'), 'sha256': Value('string'), 'mtime_utc': Value('string'), 'payload': {'schema_version': Value('string'), 'name': Value('string'), 'description': Value('string'), 'allow_tools': List(Value('string')), 'deny_tools': List(Value('string')), 'fixed_arguments': {}}}, 'sources_verified': Value('int64'), 'observed_call_counts': {'plan_press_point': Value('int64'), 'adjust_plan_pose': Value('int64')}, 'cases_with_restored_tool_calls': List({'task': Value('string'), 'instance_id': Value('int64'), 'source': Value('string'), 'sha256': Value('string'), 'calls': List({'tool': Value('string'), 'timestamp': Value('string'), 'tool_use_id': Value('string'), 'arguments': {'image_id': Value('string'), 'plan_arm': Value('string'), 'u': Value('int64'), 'v': Value('int64'), 'seed': Value('int64'), 'plan_id': Value('string'), 'roll': Value('int64'), 'upward': Value('float64'), 'leftward': Value('float64'), 'forward': Value('float64')}, 'result_is_error': Value('bool'), 'result_recorded': Value('bool'), 'result_text_preview': Value('string')})}), 'limitations': List(Value('string')), 'observed_result_codes': {'remote_api_error': Value('int64'), 'tool_policy_error': Value('int64'), 'transport_error': Value('int64')}, 'token_probe': {'diagnostic_only': Value('bool'), 'method': Value('string'), 'before': Value('string'), 'after': Value('string'), 'added_tools': L
              ...
              t': {'original_input_tokens': Value('int64')}}), 'interpretation': Value('string')}, 'archived_first_input': {'task': Value('string'), 'instance_id': Value('int64'), 'source': Value('string'), 'source_sha256': Value('string'), 'timestamp': Value('string'), 'usage': {'input_tokens': Value('int64'), 'cache_creation_input_tokens': Value('int64'), 'cache_read_input_tokens': Value('int64'), 'output_tokens': Value('int64'), 'output_tokens_details': {'thinking_tokens': Value('int64')}, 'server_tool_use': {'web_search_requests': Value('int64'), 'web_fetch_requests': Value('int64')}, 'service_tier': Value('string'), 'cache_creation': {'ephemeral_1h_input_tokens': Value('int64'), 'ephemeral_5m_input_tokens': Value('int64')}, 'inference_geo': Value('string'), 'iterations': List(Value('null')), 'speed': Value('string')}}, 'regressions': List({'log': Value('string'), 'tests': Value('int64'), 'passed': Value('int64'), 'skipped': Value('int64'), 'sha256': Value('string')}), 'base_revision': Value('string'), 'tested_file_sha256': {'harness/claude_code/src/embodied_claude_code/profile.py': Value('string'), 'harness/claude_code/profiles/archived-native-context.json': Value('string'), 'harness/claude_code/tests/test_config_profile.py': Value('string'), 'harness/claude_code/tests/test_archive_context.py': Value('string'), 'harness/claude_code/tests/test_native_skill_lifecycle.py': Value('string'), 'roboharness/native_context.py': Value('string'), 'tests/test_native_context.py': Value('string')}}
              because column names don't match

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RoboHarness assets

Large files for RoboHarness and its project page, kept out of the git repository so that git clone stays small.

Paper

RoboHarness: A Simple Harness Outperforms VLA and World Action Models (arXiv:2610.14018)

@misc{qu2026roboharness,
  title         = {RoboHarness: A Simple Harness Outperforms VLA and World Action Models},
  author        = {Bince Qu and Wei Chen and Bo Zhang},
  year          = {2026},
  eprint        = {2610.14018},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  doi           = {10.48550/arXiv.2610.14018},
  url           = {https://arxiv.org/abs/2610.14018}
}
Path Contents
v1/docs/assets/ Project-page videos (method film and head-camera rollouts)
v1/reference_results/ Archived reference evaluator results checked by the V1 runner
v1/validation_results/ V1 evaluation reports and audits
v1/history/ Earlier committed versions of the videos, named <path>@<sha256[:12]>.mp4
archive/roboharness-v1-full-history-6f3fcdb.bundle Complete original git history up to 6f3fcdb (the paper and project-page commit)

The repository's assets.lock.json pins every file to a revision of this dataset and its SHA-256. Fetch them with:

python scripts/fetch_assets.py --group reference   # needed to run V1 tasks
python scripts/fetch_assets.py --group all         # everything

To recover the original repository with its original commit IDs:

git clone roboharness-v1-full-history-6f3fcdb.bundle RoboHarness-v1
git -C RoboHarness-v1 checkout 6f3fcdbc432c0eca7c311af5b20f29604271a9e9
Downloads last month
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Total file size:
1.62 GB

Paper for BinceQu/RoboHarness-assets