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: CastError
Message: Couldn't cast
success: bool
repo_id: string
episodes: int64
frames: int64
fps: int64
method: string
idle_mask: bool
exporter_commit: string
camera_intrinsics: struct<head_camera: list<item: list<item: double>>, left_camera: list<item: list<item: double>>, rig (... 42 chars omitted)
child 0, head_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
child 1, left_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
child 2, right_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
source_slots: list<item: int64>
child 0, item: int64
image_statistics: string
features: list<item: string>
child 0, item: string
stats_sha256: string
values: string
sampling: string
algorithm: string
feature_details: struct<timestamp: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_int (... 1930 chars omitted)
child 0, timestamp: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 1, retime.source_slot: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 cha
...
imensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 12, frame_index: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 13, action: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 14, retime.source_seed: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
implementation_commit: string
quantiles: list<item: double>
child 0, item: double
to
{'algorithm': Value('string'), 'method': Value('string'), 'values': Value('string'), 'sampling': Value('string'), 'quantiles': List(Value('float64')), 'features': List(Value('string')), 'feature_details': {'timestamp': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.source_slot': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.right_idle': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'task_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('int64')), 'zero_quantile_interval_dimensions': List(Value('int64'))}, 'retime.left_idle': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'episode_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'observation.arm_active_mask': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'observation.state': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.u': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.grid_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.offset_s': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'frame_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'action': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.source_seed': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}}, 'frames': Value('int64'), 'stats_sha256': Value('string'), 'implementation_commit': Value('string'), 'image_statistics': Value('string')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, 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 127, 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 483, 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 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, 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 343, 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 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
success: bool
repo_id: string
episodes: int64
frames: int64
fps: int64
method: string
idle_mask: bool
exporter_commit: string
camera_intrinsics: struct<head_camera: list<item: list<item: double>>, left_camera: list<item: list<item: double>>, rig (... 42 chars omitted)
child 0, head_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
child 1, left_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
child 2, right_camera: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
source_slots: list<item: int64>
child 0, item: int64
image_statistics: string
features: list<item: string>
child 0, item: string
stats_sha256: string
values: string
sampling: string
algorithm: string
feature_details: struct<timestamp: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_int (... 1930 chars omitted)
child 0, timestamp: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 1, retime.source_slot: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 cha
...
imensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 12, frame_index: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 13, action: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
child 14, retime.source_seed: struct<dimensions: int64, constant_dimensions: list<item: null>, zero_quantile_interval_dimensions: (... 17 chars omitted)
child 0, dimensions: int64
child 1, constant_dimensions: list<item: null>
child 0, item: null
child 2, zero_quantile_interval_dimensions: list<item: null>
child 0, item: null
implementation_commit: string
quantiles: list<item: double>
child 0, item: double
to
{'algorithm': Value('string'), 'method': Value('string'), 'values': Value('string'), 'sampling': Value('string'), 'quantiles': List(Value('float64')), 'features': List(Value('string')), 'feature_details': {'timestamp': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.source_slot': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.right_idle': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'task_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('int64')), 'zero_quantile_interval_dimensions': List(Value('int64'))}, 'retime.left_idle': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'episode_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'observation.arm_active_mask': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'observation.state': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.u': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.grid_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.offset_s': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'frame_index': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'action': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}, 'retime.source_seed': {'dimensions': Value('int64'), 'constant_dimensions': List(Value('null')), 'zero_quantile_interval_dimensions': List(Value('null'))}}, 'frames': Value('int64'), 'stats_sha256': Value('string'), 'implementation_commit': Value('string'), 'image_statistics': Value('string')}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Scan object-CTR — ctr
100 episodes, 55658 valid action frames at25Hz. Native RoboTwin2 simulation with head,left-wrist,right-wrist RGB and14-dimensional measured states/next commanded actions. Both wrists use calibrated centered_fovy90.
The four methods share50qualified scenes selected from a frozen0..199candidate pool.195candidates were examined; each accepted scene passed its source andall5timing replays. Selection biases toward feasible expert scenes; this is not an unfiltered success benchmark.
Sequential:50left-first followedby50right-first. Concurrent:50simultaneous. CTR:100episodes in scene-major order, slot i uses u=i/100 and(i+50)/100. Mixed:34left-first slots0..33,33right-first0..32,33concurrent17..49. Slots map to actualseeds in meta/retime_manifest.json.
Task: leftarm graspsobject,rightarm scanner; independentprepare,barrier,10cmcircle-offset scanalign,then independent fixedside returns. Initial delays alone set idle=true; barriers,scanhold,settling andterminalholds arefalse. OnlyCTR includes retime.left_idle,retime.right_idle andobservation.arm_active_mask; other methods do notenableIdleMask. No retime.overlap column.
State[t] pairs with commanded target[t+1]. All publishednumeric statistics use exactglobal numpy.quantile withlinearinterpolation,excludingpadding. Image quantiles omitted. meta/exact_global_statistics.json records identities andconstantdimensions.
Collection/export source1f7770d5a66c2e80bd48e22721aa410696ccdd39;E750-R006. Full250replay/fourgroup audit passed: recipes,hashes,cameras,masks,actionalignment,globalquantiles andchecksums. Native task evaluation source33e8ff820339723c5116307f3558cb6e0f29b3f3 is separatelyqualified anddoesnotchange these data. Original generated .ctr-revision.json retains its local logicalrepo_id andmanifestSHA; thepublic repository is Shiki42/ctr-scanobject-100ep-ctr.
Limitations: simulated expert demonstrations; no trained-policy performance claim. Final task evaluation requires scan latch plusreleased,supported,stationaryitems in targetregions. No personal data.
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