IliaLarchenko/behavior_submission
Robotics • Updated
• 7
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The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowInvalid
Message: JSON parse error: Column(/primitive_annotation/[]/object_id/[]/[]) changed from string to array in row 0
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 174, in _generate_tables
df = pandas_read_json(f)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
return pd.read_json(path_or_buf, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/io/json/_json.py", line 815, in read_json
return json_reader.read()
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/io/json/_json.py", line 1014, in read
obj = self._get_object_parser(self.data)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/io/json/_json.py", line 1040, in _get_object_parser
obj = FrameParser(json, **kwargs).parse()
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/io/json/_json.py", line 1176, in parse
self._parse()
File "/usr/local/lib/python3.12/site-packages/pandas/io/json/_json.py", line 1391, in _parse
self.obj = DataFrame(
^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/core/frame.py", line 778, in __init__
mgr = dict_to_mgr(data, index, columns, dtype=dtype, copy=copy, typ=manager)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/core/internals/construction.py", line 503, in dict_to_mgr
return arrays_to_mgr(arrays, columns, index, dtype=dtype, typ=typ, consolidate=copy)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/core/internals/construction.py", line 114, in arrays_to_mgr
index = _extract_index(arrays)
^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/pandas/core/internals/construction.py", line 677, in _extract_index
raise ValueError("All arrays must be of the same length")
ValueError: All arrays must be of the same length
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1815, in _prepare_split_single
for _, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 691, in wrapped
for item in generator(*args, **kwargs):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 177, in _generate_tables
raise e
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 151, in _generate_tables
pa_table = paj.read_json(
^^^^^^^^^^^^^^
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
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: JSON parse error: Column(/primitive_annotation/[]/object_id/[]/[]) changed from string to array in row 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/parquet_and_info.py", line 1450, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 993, in stream_convert_to_parquet
builder._prepare_split(
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1702, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1858, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
task_name string | data_folder string | meta_data dict | skill_annotation list | primitive_annotation list |
|---|---|---|---|---|
turning on radio | {
"task_duration": 1776,
"valid_duration": [
0,
1776
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
265
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2001,
"valid_duration": [
0,
2001
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
376
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2038,
"valid_duration": [
0,
2038
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
211
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1839,
"valid_duration": [
0,
1839
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
308
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1484,
"valid_duration": [
0,
1484
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
360
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2529,
"valid_duration": [
576,
3105
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
576,
1443
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2253,
"valid_duration": [
0,
2253
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
320
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2356,
"valid_duration": [
0,
2356
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
334
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2216,
"valid_duration": [
0,
2216
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
598
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2247,
"valid_duration": [
0,
2247
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
865
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2769,
"valid_duration": [
0,
2769
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
634
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2157,
"valid_duration": [
0,
2157
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
546
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1985,
"valid_duration": [
6,
1991
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6,
1033
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2604,
"valid_duration": [
0,
2604
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
702
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2375,
"valid_duration": [
0,
2375
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
426
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1860,
"valid_duration": [
0,
1860
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
521
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2190,
"valid_duration": [
0,
2190
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
424
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2399,
"valid_duration": [
0,
2399
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
530
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1774,
"valid_duration": [
0,
1774
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
682
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2353,
"valid_duration": [
24,
2377
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
24,
816
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1896,
"valid_duration": [
0,
1896
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
538
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 1882,
"valid_duration": [
0,
1882
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
404
],
"mp_ef": [],
"skill_type": [
... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"spatial_prefix": [],
"frame_duratio... | |
turning on radio | {
"task_duration": 2454,
"valid_duration": [
0,
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End of preview.
This is the compressed version of the original BEHAVIOR dataset
It contains only RGB videos compressed to 224x224 as well as actions, annotations, and metadata files. Depth and segmentation data are removed.
The dataset is just ~260GB, which makes it easier to use than the original one if you don't need all the data.
We used this dataset for our 1st place solution in the NeurIPS 2025 BEHAVIOR Challenge. Code, tech report.
Citation
@article{li2024behavior,
title={Behavior-1k: A human-centered, embodied ai benchmark with 1,000 everyday activities and realistic simulation},
author={Li, Chengshu and Zhang, Ruohan and Wong, Josiah and Gokmen, Cem and Srivastava, Sanjana and Mart{'i}n-Mart{'i}n, Roberto and Wang, Chen and Levine, Gabrael and Ai, Wensi and Martinez, Benjamin and Yin, Hang and Lingelbach, Michael and Hwang, Minjune and Hiranaka, Ayano and Garlanka, Sujay and Aydin, Arman and Lee, Sharon and Sun, Jiankai and Anvari, Mona and Sharma, Manasi and Bansal, Dhruva and Hunter, Samuel and Kim, Kyu-Young and Lou, Alan and Matthews, Caleb R. and Villa-Renteria, Ivan and Tang, Jerry Huayang and Tang, Claire and Xia, Fei and Li, Yunzhu and Savarese, Silvio and Gweon, Hyowon and Liu, C. Karen and Wu, Jiajun and Fei-Fei, Li},
journal={arXiv preprint arXiv:2403.09227},
year={2024}
}
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