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 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, 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 494, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, 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 273, in _recursive_load_arrays
arr = _recursive_load_arrays(dset, features[path], start, end)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[Previous line repeated 1 more time]
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.
LIBERO Spatial Visual Variations
This derived dataset expands libero_spatial with six visual conditions per
source trajectory: the original LIBERO appearance plus five scene-level visual
palettes. It preserves the original task states, actions, rewards, dones,
robot state vectors, proprioceptive observations, task language, and BDDL task
semantics.
Visual conditions:
original: Original - Default LIBERO spatial visual appearance.nordic-sage: Nordic Sage - White marble, pale plaster, light wood, sage cabinet, warm showroom light.midnight-fjord: Midnight Fjord - Dark floor, deep blue wall, gray table, navy cabinet, cool low-key light.terracotta-pop: Terracotta Pop - Brown ceramic, yellow linen, wood table, clay cabinet, warm terracotta light.alpine-oak: Alpine Oak - Wood planks, white wall, light wood table, white-oak cabinet, clear daylight.graphite-gallery: Graphite Gallery - Gray ceramic, dark plaster, gray table, charcoal cabinet, crisp spotlight.
The dataset contains ten LIBERO spatial tasks. Each task file contains the first ten source demonstrations rendered under all six visual conditions, for 60 trajectories per task and 600 trajectories total.
Within every task HDF5, the trajectory blocks are ordered as:
demo_0..demo_9 original
demo_10..demo_19 nordic-sage
demo_20..demo_29 midnight-fjord
demo_30..demo_39 terracotta-pop
demo_40..demo_49 alpine-oak
demo_50..demo_59 graphite-gallery
Prefer reading visual_condition_key and source_demo_index from each
episode's attributes instead of relying only on this index convention.
Each episode stores explicit metadata:
task_name,task_index,language_instructionsource_demo_key,source_demo_index,source_task_filevisual_condition_key,visual_condition_name,background_stylecamera_calibrationgroup with per-camera intrinsics, per-frame extrinsics, and per-frame world-to-pixel projection matrices
Common trajectory and observation keys follow the usual LIBERO HDF5 layout:
data/demo_*/actions
data/demo_*/states
data/demo_*/robot_states
data/demo_*/rewards
data/demo_*/dones
data/demo_*/obs/agentview_rgb
data/demo_*/obs/eye_in_hand_rgb
data/demo_*/obs/joint_states
data/demo_*/obs/gripper_states
data/demo_*/obs/ee_pos
data/demo_*/obs/ee_ori
data/demo_*/obs/ee_states
Camera calibration is stored at:
data/demo_*/camera_calibration/<camera_name>/intrinsic_matrix
data/demo_*/camera_calibration/<camera_name>/extrinsic_matrices
data/demo_*/camera_calibration/<camera_name>/world_to_pixel_matrices
Calibration is available for both agentview and robot0_eye_in_hand.
The array shapes are:
intrinsic_matrix (3, 3)
extrinsic_matrices (T, 4, 4)
world_to_pixel_matrices (T, 4, 4)
The uploaded dataset was re-downloaded from Hugging Face and validated for:
- 10 task files
- 600 total trajectories
- expected visual-condition blocks
- expected RGB observation shapes
(T, 128, 128, 3) - expected camera calibration groups and matrix shapes
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