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Telon1
/

RoboTwin_ICL_shared_suite

Tasks:

Robotics

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xet

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train

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
episode_0: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
episode_1: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
episode_2: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
episode_3
...
_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
episode_48: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
episode_49: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
  child 0, cluttered_table_info: list<item: null>
      child 0, item: null
  child 1, texture_info: struct<wall_texture: null, table_texture: null>
      child 0, wall_texture: null
      child 1, table_texture: null
  child 2, info: struct<{A}: string, {a}: string, {b}: string>
      child 0, {A}: string
      child 1, {a}: string
      child 2, {b}: string
seed: int64
unseen: list<item: string>
  child 0, item: string
seen: list<item: string>
  child 0, item: string
to
{'seed': Value('int64'), 'seen': List(Value('string')), 'unseen': List(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
              episode_0: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              episode_1: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              episode_2: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              episode_3
              ...
              _textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              episode_48: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              episode_49: struct<cluttered_table_info: list<item: null>, texture_info: struct<wall_texture: null, table_textur (... 62 chars omitted)
                child 0, cluttered_table_info: list<item: null>
                    child 0, item: null
                child 1, texture_info: struct<wall_texture: null, table_texture: null>
                    child 0, wall_texture: null
                    child 1, table_texture: null
                child 2, info: struct<{A}: string, {a}: string, {b}: string>
                    child 0, {A}: string
                    child 1, {a}: string
                    child 2, {b}: string
              seed: int64
              unseen: list<item: string>
                child 0, item: string
              seen: list<item: string>
                child 0, item: string
              to
              {'seed': Value('int64'), 'seen': List(Value('string')), 'unseen': List(Value('string'))}
              because column names don't match

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RoboTwin ICL Shared Suite (24 tasks)

Expert demonstrations collected in RoboTwin_ICL on a shared table layout with Aloha-Agilex dual arms.

24 tasks × 50 episodes each
Embodiment: aloha-agilex
Per episode: HDF5 (data/), MP4 (video/), language (instruction/), seed.txt, scene_info.json
Object xy jitter ±10 mm, yaw ±5°
Domain randomization off

Tasks

Task	Description
shared_place_cube	red cube → blue pad (left)
shared_place_green_pad	green cube → yellow pad (left)
shared_place_cup_pad	cup → purple pad (right)
shared_place_cards_pad	cards → yellow pad (right)
shared_stack_green_red	green on red (left)
shared_stack_red_green	red on green (left)
shared_stack_blue_green	blue on green (left)
shared_place_red_yellow	red → yellow pad (left)
shared_place_cards_plate	cards into plate (right)
shared_place_cup_plate	cup into plate (right)
shared_place_green_blue	green → blue pad (left)
shared_place_can_pad	can → blue pad (left)
shared_press_button	press button (left)
shared_turn_knob_cw	knob clockwise (right)
shared_turn_knob_ccw	knob counter-clockwise (right)
shared_push_cards	push cards (right)
shared_push_red_pad	push red toward blue pad (left)
shared_lift_green_cup	dual lift green + cup
shared_lift_red_cards	dual lift red + cards
shared_pinch_hammer	hammer strike cards (right)
shared_pinch_scanner	scan yellow pad (left)
shared_press_bell	press bell (right)
shared_lift_roller	lift roller (left)
shared_handover_green	green cube handover left→right

Layout

<task>/aloha_agilex/
  data/episode_XXXXXXX.hdf5
  video/episode_XXXXXXX.mp4
  instruction/episode_XXXXXXX.json
  seed.txt
  scene_info.json

Downloads last month: 248

Total file size:

27.7 GB