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 2567, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2102, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2125, 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 479, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 380, 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 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.
Capstone VLA Datasets
LeRobot v2.1 datasets for a liquid pouring task on a KuavoV4Pro humanoid robot (34-DOF, bimanual). Used to benchmark GR00T N1.6, pi0.5, and Diffusion Policy under varying real-to-synthetic data ratios.
Mixture Configurations
| Dataset | Type | Episodes |
|---|---|---|
human |
unknown | 200 |
Dataset Structure (LeRobot v2.1)
<dataset>/
├── meta/
│ ├── info.json
│ ├── tasks.jsonl
│ ├── episodes.jsonl
│ └── stats.safetensors
├── data/
│ └── chunk-*/
│ └── episode_*.parquet
└── videos/
└── chunk-*/
└── observation.images.*_episode_*.mp4
Pipeline
- Teleoperation — ROS + Isaac Lab teleop (real demos)
- Mimic annotation — Isaac Lab Mimic with Pink IK controller
- Synthetic generation — Isaac Lab Mimic (~40% success rate)
- Format conversion — HDF5 → LeRobot v2.1 (parquet + video)
- Training — GR00T N1.6 · pi0.5 · Diffusion Policy
Benchmarking
Total dataset size held constant at ~600 episodes across all mixture configurations for controlled comparison.
Auto-generated by upload_datasets.py
- Downloads last month
- 1,201