The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 291, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 364, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column(/windows/[]/[]) changed from string to number in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 306, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.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.
FWAM Omni
Release status: uploading. This repository is incomplete until metadata/release.json records completion.
This release contains the exact processed episode populations used for the current FWAM joint training and fixed-test evaluation, plus the external RGB-D files needed by the reader, the Bench2Dex force correction, normalization statistics, cached text embeddings, frozen splits, and evaluation populations. It is a data snapshot, not a claim of model convergence or benchmark superiority.
| Dataset | Train episodes | Validation episodes | Test episodes | Additional test |
|---|---|---|---|---|
| GRAIL v3 | 4,808 | 593 | 651 | — |
| ManiSkill dynamics v2c | 1,395 | 139 | 242 | 110 dynamics OOD |
| HRDexDB v1 | 967 | 96 | 69 | — |
| DexTaG v2 | 191 | 25 | 25 | — |
| Bench2Dex v4 ready | 840 | 105 | 105 | — |
| VPM Real-Robot v2 | — | — | 100 | Evaluation only |
The 8,201 training episodes define 1,071,969 candidate windows. The fixed 1 Hz test evaluation uses 13,788 windows; these counts describe different populations. They do not mean that a particular training run visited every window.
Contents
data/fwam/<dataset>/*.npz: original processed episode bytes, including valid masks, action/state, body and scene trajectories, sensor values, and available RGB-D arrays.data/fwam/bench2dex_forcefix_v1/: mandatory represented-link force corrections for affected Bench2Dex episodes. The old force arrays must not be used without this overlay.metadata/splits/: portable repository-relative split lists.provenance/frozen_splits/preserves the original lists and their identity.provenance/test_1hz/: original fixed evaluation-window definitions.data/fwam/stats_omni_v3_q.json: training normalization.data/fwam/text_cache_qwen3vlemb2b_v8.pt: the text embedding cache used by the pipeline.- External HRDexDB FRONT/SIDE RGB-D packets and VPM depth dependencies are being added with their original resolution and bytes. The processed HR episodes alone do not contain images; the processed VPM episodes alone do not contain depth.
No new image resize or lossy re-encoding is performed for this release. Existing model-sized images inside the processed episodes remain the historical conversion output. Their resolution is distinct from the native external packet resolution.
Evidence and units
GRAIL, ManiSkill, DexTaG, and Bench2Dex use simulator-derived trajectories. A pointwise force field obtained by distributing contact forces onto sampled robot points is a derived label, not a measured dense tactile image. ManiSkill force supervision is the target-object normal resultant on each finger. DexTaG excludes self-contact from its environment-force target. Represented-link support and unknown missing-link loads remain explicit.
HRDexDB scene targets are FRONT TrackEverything pseudo-GT. SIDE is input only. Native tactile scalars are normalized, unitless values and must not be treated as Newton force labels. HRDexDB validation is a held-out object set, not a model-selection set for this project.
VPM depth is estimated by Depth Anything 3 and its scene trajectories are pseudo-GT. All 100 VPM episodes are test-only. Do not create training or validation splits from them.
Failed rollouts remain data. Clean-window filters, including DexTaG's relaxed penetration and hammer-load thresholds, are documented in the producer notes. Cross-dataset CAD overlap exists; this release does not imply globally unseen-object evaluation. Mass, inertia, and friction metadata are not model inputs or prediction targets in the FWAM protocol.
Sources
Producer documentation is preserved under provenance/. This repository assembles derivatives of GRAIL-Phys, ManiSkill, HRDexDB, DexTaG, Bench2Dex, and VPM/VP-WorldBench. Source provenance and recorded upstream terms remain attached; no single blanket relicensing of all upstream components is asserted.
The project owner authorized public redistribution of this prepared collection. See the per-source notes for attribution, acquisition provenance, known limitations, and original source references.
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