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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 9 new columns ({'camera_session_id', 'episode_count', 'reference_episode_id', 'estimated_rotation', 'reference_frame_path', 'consistency_class', 'estimated_translation', 'homography_confidence', 'image_similarity'}) and 5 missing columns ({'created_at', 'source_episode_id', 'raw_path', 'reviewer', 'annotation_version'}).
This happened while the json dataset builder was generating data using
hf://datasets/LancetRobotics/fabric_droid_v001/metadata/camera_session_report.json (at revision 645cd4443cc7e6923bba1bf7d84d3b989940f072), ['hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/annotation_snapshot.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/camera_session_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/instruction_templates.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/leakage_audit.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/recovery_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/rejected_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/segment_stats.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/sensor_qc_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/split_manifest.json'], ['hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/annotation_snapshot.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/camera_session_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/instruction_templates.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/leakage_audit.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/recovery_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/rejected_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/segment_stats.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/sensor_qc_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/split_manifest.json']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1837, in _prepare_split_single
writer.write_table(table)
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
self._write_table(pa_table, writer_batch_size=writer_batch_size)
~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
pa_table = table_cast(pa_table, self._schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
camera_session_id: string
consistency_class: string
episode_count: int64
estimated_rotation: double
estimated_translation: double
homography_confidence: double
image_similarity: double
reference_episode_id: string
reference_frame_path: string
annotation: null
-- schema metadata --
huggingface: '{"info": {"features": {"camera_session_id": {"dtype": "stri' + 569
to
{'annotation': {'action_branch': Value('string'), 'camera_session_id': Value('string'), 'correct_grasp_region': Value('null'), 'dataset_decision': Value('string'), 'episode_id': Value('string'), 'events': Json(decode=True), 'failure_reason': Value('string'), 'material_labels': {'breathability': Value('null'), 'label_source': Value('null'), 'semantic_confidence': Value('null'), 'softness': Value('null'), 'summer_suitability': Value('null'), 'thickness': Value('null')}, 'notes': Value('string'), 'operator': Value('string'), 'review_status': Value('string'), 'sensor_complete': Value('bool'), 'session_id': Value('string'), 'single_layer': Value('null'), 'source_slot': Value('string'), 'stable_hold_present': Value('null'), 'success': Value('bool'), 'swatch_uid': Value('string')}, 'annotation_version': Value('int64'), 'created_at': Value('string'), 'raw_path': Value('string'), 'reviewer': Value('string'), 'source_episode_id': Value('string')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1839, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
...<4 lines>...
)
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 9 new columns ({'camera_session_id', 'episode_count', 'reference_episode_id', 'estimated_rotation', 'reference_frame_path', 'consistency_class', 'estimated_translation', 'homography_confidence', 'image_similarity'}) and 5 missing columns ({'created_at', 'source_episode_id', 'raw_path', 'reviewer', 'annotation_version'}).
This happened while the json dataset builder was generating data using
hf://datasets/LancetRobotics/fabric_droid_v001/metadata/camera_session_report.json (at revision 645cd4443cc7e6923bba1bf7d84d3b989940f072), ['hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/annotation_snapshot.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/camera_session_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/instruction_templates.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/leakage_audit.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/recovery_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/rejected_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/segment_stats.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/sensor_qc_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/split_manifest.json'], ['hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/annotation_snapshot.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/camera_session_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/instruction_templates.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/leakage_audit.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/recovery_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/rejected_episodes.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/segment_stats.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/sensor_qc_report.json', 'hf://datasets/LancetRobotics/fabric_droid_v001@645cd4443cc7e6923bba1bf7d84d3b989940f072/metadata/split_manifest.json']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)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.
annotation dict | annotation_version int64 | created_at string | raw_path string | reviewer string | source_episode_id string |
|---|---|---|---|---|---|
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_163100",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 23 | 2026-08-04T02:30:52.262076 | /home/suhang/datasets2/frabric_pi/episode_20260727_163100 | suhang | episode_20260727_163100 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_163205",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 8 | 2026-08-04T02:30:55.282370 | /home/suhang/datasets2/frabric_pi/episode_20260727_163205 | suhang | episode_20260727_163205 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_163409",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:28:53.418828 | /home/suhang/datasets2/frabric_pi/episode_20260727_163409 | suhang | episode_20260727_163409 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_165458",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:28:56.789671 | /home/suhang/datasets2/frabric_pi/episode_20260727_165458 | suhang | episode_20260727_165458 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_165636",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:29:04.863509 | /home/suhang/datasets2/frabric_pi/episode_20260727_165636 | suhang | episode_20260727_165636 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_165803",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:29:08.136022 | /home/suhang/datasets2/frabric_pi/episode_20260727_165803 | suhang | episode_20260727_165803 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_165907",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 5 | 2026-08-04T02:31:09.603047 | /home/suhang/datasets2/frabric_pi/episode_20260727_165907 | suhang | episode_20260727_165907 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170005",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 5 | 2026-08-04T02:31:13.074953 | /home/suhang/datasets2/frabric_pi/episode_20260727_170005 | suhang | episode_20260727_170005 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170126",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:05:24.936865 | /home/suhang/datasets2/frabric_pi/episode_20260727_170126 | suhang | episode_20260727_170126 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170234",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:31:19.953477 | /home/suhang/datasets2/frabric_pi/episode_20260727_170234 | suhang | episode_20260727_170234 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170359",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:06:12.211891 | /home/suhang/datasets2/frabric_pi/episode_20260727_170359 | suhang | episode_20260727_170359 |
{
"action_branch": "leave",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170511",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 4 | 2026-08-04T02:31:25.666249 | /home/suhang/datasets2/frabric_pi/episode_20260727_170511 | suhang | episode_20260727_170511 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170715",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 9 | 2026-08-04T02:32:07.072119 | /home/suhang/datasets2/frabric_pi/episode_20260727_170715 | suhang | episode_20260727_170715 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170834",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 6 | 2026-08-04T02:32:16.297756 | /home/suhang/datasets2/frabric_pi/episode_20260727_170834 | suhang | episode_20260727_170834 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_170954",
"events": "{\"branch_point\":{\"confidence\":0.93,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_even... | 2 | 2026-08-04T02:32:36.181547 | /home/suhang/datasets2/frabric_pi/episode_20260727_170954 | suhang | episode_20260727_170954 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171111",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:32:56.530130 | /home/suhang/datasets2/frabric_pi/episode_20260727_171111 | suhang | episode_20260727_171111 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171226",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 4 | 2026-08-04T10:49:52.025482 | /home/suhang/datasets2/frabric_pi/episode_20260727_171226 | suhang | episode_20260727_171226 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171407",
"events": "{\"branch_point\":{\"confidence\":0.8261,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:34:47.081581 | /home/suhang/datasets2/frabric_pi/episode_20260727_171407 | suhang | episode_20260727_171407 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171511",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:35:13.555637 | /home/suhang/datasets2/frabric_pi/episode_20260727_171511 | suhang | episode_20260727_171511 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171621",
"events": "{\"branch_point\":{\"confidence\":0.8483,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:35:29.056455 | /home/suhang/datasets2/frabric_pi/episode_20260727_171621 | suhang | episode_20260727_171621 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171738",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:35:48.719297 | /home/suhang/datasets2/frabric_pi/episode_20260727_171738 | suhang | episode_20260727_171738 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_171850",
"events": "{\"branch_point\":{\"confidence\":0.9158,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:36:05.837649 | /home/suhang/datasets2/frabric_pi/episode_20260727_171850 | suhang | episode_20260727_171850 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_172046",
"events": "{\"branch_point\":{\"confidence\":0.812,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_eve... | 2 | 2026-08-04T02:36:28.085236 | /home/suhang/datasets2/frabric_pi/episode_20260727_172046 | suhang | episode_20260727_172046 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_172453",
"events": "{\"branch_point\":{\"confidence\":0.8773,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:36:58.044386 | /home/suhang/datasets2/frabric_pi/episode_20260727_172453 | suhang | episode_20260727_172453 |
{
"action_branch": "remove",
"camera_session_id": "session_20260726__102422075665",
"correct_grasp_region": null,
"dataset_decision": "keep",
"episode_id": "episode_20260727_172746",
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"events": "{\"branch_point\":{\"confidence\":0.8391,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:37:33.051158 | /home/suhang/datasets2/frabric_pi/episode_20260727_173806 | suhang | episode_20260727_173806 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:38:04.435541 | /home/suhang/datasets2/frabric_pi/episode_20260727_173908 | suhang | episode_20260727_173908 |
{
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"events": "{\"branch_point\":{\"confidence\":0.8987,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_eve... | 3 | 2026-08-04T02:38:33.363786 | /home/suhang/datasets2/frabric_pi/episode_20260727_174214 | suhang | episode_20260727_174214 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:39:05.649167 | /home/suhang/datasets2/frabric_pi/episode_20260727_174347 | suhang | episode_20260727_174347 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:39:27.340922 | /home/suhang/datasets2/frabric_pi/episode_20260727_174538 | suhang | episode_20260727_174538 |
{
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"events": "{\"branch_point\":{\"confidence\":0.8561,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:39:40.211327 | /home/suhang/datasets2/frabric_pi/episode_20260727_174817 | suhang | episode_20260727_174817 |
{
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"episode_id": "episode_20260727_174954",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 5 | 2026-08-04T02:40:39.261080 | /home/suhang/datasets2/frabric_pi/episode_20260727_174954 | suhang | episode_20260727_174954 |
{
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"events": "{\"branch_point\":{\"confidence\":0.7804,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:41:04.448950 | /home/suhang/datasets2/frabric_pi/episode_20260727_175124 | suhang | episode_20260727_175124 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:41:33.429775 | /home/suhang/datasets2/frabric_pi/episode_20260727_175322 | suhang | episode_20260727_175322 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:42:00.776697 | /home/suhang/datasets2/frabric_pi/episode_20260727_175405 | suhang | episode_20260727_175405 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:42:20.136056 | /home/suhang/datasets2/frabric_pi/episode_20260727_175511 | suhang | episode_20260727_175511 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:42:41.174957 | /home/suhang/datasets2/frabric_pi/episode_20260727_175717 | suhang | episode_20260727_175717 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:43:01.664105 | /home/suhang/datasets2/frabric_pi/episode_20260727_175758 | suhang | episode_20260727_175758 |
{
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"episode_id": "episode_20260727_175959",
"events": "{\"branch_point\":{\"confidence\":0.7472,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:43:14.416068 | /home/suhang/datasets2/frabric_pi/episode_20260727_175959 | suhang | episode_20260727_175959 |
{
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"episode_id": "episode_20260727_180227",
"events": "{\"branch_point\":{\"confidence\":0.853,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_eve... | 2 | 2026-08-04T02:43:40.630311 | /home/suhang/datasets2/frabric_pi/episode_20260727_180227 | suhang | episode_20260727_180227 |
{
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"episode_id": "episode_20260727_180351",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event... | 3 | 2026-08-04T02:43:58.207897 | /home/suhang/datasets2/frabric_pi/episode_20260727_180351 | suhang | episode_20260727_180351 |
{
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"episode_id": "episode_20260727_180459",
"events": "{\"branch_point\":{\"confidence\":0.8442,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:44:11.567199 | /home/suhang/datasets2/frabric_pi/episode_20260727_180459 | suhang | episode_20260727_180459 |
{
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"episode_id": "episode_20260727_180632",
"events": "{\"branch_point\":{\"confidence\":0.93,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_even... | 2 | 2026-08-04T02:44:38.966900 | /home/suhang/datasets2/frabric_pi/episode_20260727_180632 | suhang | episode_20260727_180632 |
{
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"events": "{\"branch_point\":{\"confidence\":0.8092,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:44:51.717760 | /home/suhang/datasets2/frabric_pi/episode_20260727_180936 | suhang | episode_20260727_180936 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:45:19.922657 | /home/suhang/datasets2/frabric_pi/episode_20260727_181042 | suhang | episode_20260727_181042 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:45:40.870596 | /home/suhang/datasets2/frabric_pi/episode_20260727_181157 | suhang | episode_20260727_181157 |
{
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"events": "{\"branch_point\":{\"confidence\":0.7914,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:45:54.980187 | /home/suhang/datasets2/frabric_pi/episode_20260727_181256 | suhang | episode_20260727_181256 |
{
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"episode_id": "episode_20260727_181351",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:46:18.277448 | /home/suhang/datasets2/frabric_pi/episode_20260727_181351 | suhang | episode_20260727_181351 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:46:33.791685 | /home/suhang/datasets2/frabric_pi/episode_20260727_181455 | suhang | episode_20260727_181455 |
{
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"dataset_decision": "drop",
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"events": "{\"branch_point\":{\"confidence\":0.922,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 1 | 2026-08-04T02:46:58.928861 | /home/suhang/datasets2/frabric_pi/episode_20260727_181549 | suhang | episode_20260727_181549 |
{
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"episode_id": "episode_20260727_181646",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:47:17.048831 | /home/suhang/datasets2/frabric_pi/episode_20260727_181646 | suhang | episode_20260727_181646 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:47:34.661380 | /home/suhang/datasets2/frabric_pi/episode_20260727_181820 | suhang | episode_20260727_181820 |
{
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"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:47:52.183594 | /home/suhang/datasets2/frabric_pi/episode_20260727_181940 | suhang | episode_20260727_181940 |
{
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"episode_id": "episode_20260727_182122",
"events": "{\"branch_point\":{\"confidence\":1.0,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_event\... | 3 | 2026-08-04T02:48:15.211641 | /home/suhang/datasets2/frabric_pi/episode_20260727_182122 | suhang | episode_20260727_182122 |
{
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"episode_id": "episode_20260727_182225",
"events": "{\"branch_point\":{\"confidence\":0.8889,\"detector_version\":\"fabric-curator-fusion-v1\",\"evidence\":{\"seed_ev... | 2 | 2026-08-04T02:48:33.102871 | /home/suhang/datasets2/frabric_pi/episode_20260727_182225 | suhang | episode_20260727_182225 |
End of preview.
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Check out the documentation for more information.
Fabric-DROID v001
This is the final train-only export of the Fabric-DROID Franka teleoperation episodes reviewed with the local Dataset Curator.
Contents
archives/fabric_droid_v001_raw.tar.zst: 126 selected raw episode directories, including robot trajectory, camera recordings, timestamps, and tactile sidecars.metadata/manifest.parquet: the 252 active training segments and their timestamps, action branch, camera mapping, and language instruction.metadata/: immutable export metadata, split information, QC reports, and annotation snapshots.
Dataset counts
- Episodes: 126
- Segments: 252
- Split:
trainonly (no validation or test split) - Grasp-probe segments: 126
- Leave-on-rack segments: 62
- Remove-to-basket segments: 64
The episode episode_20260727_200917 was explicitly dropped and is not in the
archive or manifest. episode_20260728_210322 is included.
Instructions
The manifest contains the canonical instructions:
Reach for the fabric, grasp it, and hold it for inspection.Leave the fabric on the rack, release it, and return to the ready position.Remove the fabric from the rack and drop it into the basket.
Extracting raw episodes
zstd -d archives/fabric_droid_v001_raw.tar.zst -c | tar -xf -
The archive expands to an episodes/ directory. Raw recordings are preserved
as captured; the leading idle trim and action labels are represented by the
manifest timestamps and metadata rather than by rewriting the source files.
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