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
conversion_package_tests: struct<passed: int64, failed: int64>
child 0, passed: int64
child 1, failed: int64
ruff_format: string
ruff_check: string
full_repository_tests: struct<exit_code: int64, failed: int64, errors: int64, cause: string, log: string>
child 0, exit_code: int64
child 1, failed: int64
child 2, errors: int64
child 3, cause: string
child 4, log: string
gpu_simulation_launched: bool
data_validation: string
summary: struct<sensor_reference_passed_frames: int64, sensor_reference_mismatch_first_frames: int64, sensor_ (... 291 chars omitted)
child 0, sensor_reference_passed_frames: int64
child 1, sensor_reference_mismatch_first_frames: int64
child 2, sensor_position_error_after_first_max_m: double
child 3, sensor_rotation_error_after_first_max_rad: double
child 4, final_camera_metadata_position_error_max_m: double
child 5, camera_capture_to_sync_position_step_max_m: double
child 6, camera_capture_to_sync_rotation_step_max_rad: double
child 7, not_a_camera_exposure_error_bound: bool
position_tolerance_m: double
status: string
published: bool
urdf_sha256: string
warmup_camera_estimates: int64
camera_timing: string
rotation_tolerance_rad: double
reference_mismatch_frames: int64
array_sha256: struct<handover: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, (... 1048 chars omitted)
child 0, handover: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, dextraverse_camer (...
...
se: string
child 1, right_wrist_pose: string
child 2, camera_ego_pose: string
child 3, dextraverse_camera_sync_pose: string
child 4, dextraverse_camera_warmup_estimate: string
child 5, camera_main_pose: string
child 6, camera_side_pose: string
child 7, dextraverse_pose_reference_valid: string
child 8, dextraverse_pose_reference_position_error_m: string
child 9, dextraverse_pose_reference_rotation_error_rad: string
episodes: int64
coordinate_frame: string
wrist_from_canonical: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
frames: int64
episodes_report: list<item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: i (... 305 chars omitted)
child 0, item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: int64>, sens (... 293 chars omitted)
child 0, task: string
child 1, demo: string
child 2, frames: int64
child 3, reference_mismatch_frames: list<item: int64>
child 0, item: int64
child 4, sensor_position_error_max_m: double
child 5, sensor_rotation_error_max_rad: double
child 6, sensor_position_error_after_first_max_m: double
child 7, sensor_rotation_error_after_first_max_rad: double
child 8, final_camera_metadata_position_error_m: double
child 9, camera_step_position_max_m: double
child 10, camera_step_rotation_max_rad: double
to
{'status': Value('string'), 'published': Value('bool'), 'frames': Value('int64'), 'episodes': Value('int64'), 'urdf_sha256': Value('string'), 'position_tolerance_m': Value('float64'), 'rotation_tolerance_rad': Value('float64'), 'reference_mismatch_frames': Value('int64'), 'warmup_camera_estimates': Value('int64'), 'coordinate_frame': Value('string'), 'wrist_from_canonical': List(List(Value('float64'))), 'camera_timing': Value('string'), 'episodes_report': List({'task': Value('string'), 'demo': Value('string'), 'frames': Value('int64'), 'reference_mismatch_frames': List(Value('int64')), 'sensor_position_error_max_m': Value('float64'), 'sensor_rotation_error_max_rad': Value('float64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_m': Value('float64'), 'camera_step_position_max_m': Value('float64'), 'camera_step_rotation_max_rad': Value('float64')}), 'array_sha256': {'handover': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'pick_and_place': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'stack_cube': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}}, 'summary': {'sensor_reference_passed_frames': Value('int64'), 'sensor_reference_mismatch_first_frames': Value('int64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_max_m': Value('float64'), 'camera_capture_to_sync_position_step_max_m': Value('float64'), 'camera_capture_to_sync_rotation_step_max_rad': Value('float64'), 'not_a_camera_exposure_error_bound': Value('bool')}}
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 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, 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 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, 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
conversion_package_tests: struct<passed: int64, failed: int64>
child 0, passed: int64
child 1, failed: int64
ruff_format: string
ruff_check: string
full_repository_tests: struct<exit_code: int64, failed: int64, errors: int64, cause: string, log: string>
child 0, exit_code: int64
child 1, failed: int64
child 2, errors: int64
child 3, cause: string
child 4, log: string
gpu_simulation_launched: bool
data_validation: string
summary: struct<sensor_reference_passed_frames: int64, sensor_reference_mismatch_first_frames: int64, sensor_ (... 291 chars omitted)
child 0, sensor_reference_passed_frames: int64
child 1, sensor_reference_mismatch_first_frames: int64
child 2, sensor_position_error_after_first_max_m: double
child 3, sensor_rotation_error_after_first_max_rad: double
child 4, final_camera_metadata_position_error_max_m: double
child 5, camera_capture_to_sync_position_step_max_m: double
child 6, camera_capture_to_sync_rotation_step_max_rad: double
child 7, not_a_camera_exposure_error_bound: bool
position_tolerance_m: double
status: string
published: bool
urdf_sha256: string
warmup_camera_estimates: int64
camera_timing: string
rotation_tolerance_rad: double
reference_mismatch_frames: int64
array_sha256: struct<handover: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, (... 1048 chars omitted)
child 0, handover: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, dextraverse_camer (...
...
se: string
child 1, right_wrist_pose: string
child 2, camera_ego_pose: string
child 3, dextraverse_camera_sync_pose: string
child 4, dextraverse_camera_warmup_estimate: string
child 5, camera_main_pose: string
child 6, camera_side_pose: string
child 7, dextraverse_pose_reference_valid: string
child 8, dextraverse_pose_reference_position_error_m: string
child 9, dextraverse_pose_reference_rotation_error_rad: string
episodes: int64
coordinate_frame: string
wrist_from_canonical: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
frames: int64
episodes_report: list<item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: i (... 305 chars omitted)
child 0, item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: int64>, sens (... 293 chars omitted)
child 0, task: string
child 1, demo: string
child 2, frames: int64
child 3, reference_mismatch_frames: list<item: int64>
child 0, item: int64
child 4, sensor_position_error_max_m: double
child 5, sensor_rotation_error_max_rad: double
child 6, sensor_position_error_after_first_max_m: double
child 7, sensor_rotation_error_after_first_max_rad: double
child 8, final_camera_metadata_position_error_m: double
child 9, camera_step_position_max_m: double
child 10, camera_step_rotation_max_rad: double
to
{'status': Value('string'), 'published': Value('bool'), 'frames': Value('int64'), 'episodes': Value('int64'), 'urdf_sha256': Value('string'), 'position_tolerance_m': Value('float64'), 'rotation_tolerance_rad': Value('float64'), 'reference_mismatch_frames': Value('int64'), 'warmup_camera_estimates': Value('int64'), 'coordinate_frame': Value('string'), 'wrist_from_canonical': List(List(Value('float64'))), 'camera_timing': Value('string'), 'episodes_report': List({'task': Value('string'), 'demo': Value('string'), 'frames': Value('int64'), 'reference_mismatch_frames': List(Value('int64')), 'sensor_position_error_max_m': Value('float64'), 'sensor_rotation_error_max_rad': Value('float64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_m': Value('float64'), 'camera_step_position_max_m': Value('float64'), 'camera_step_rotation_max_rad': Value('float64')}), 'array_sha256': {'handover': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'pick_and_place': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'stack_cube': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}}, 'summary': {'sensor_reference_passed_frames': Value('int64'), 'sensor_reference_mismatch_first_frames': Value('int64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_max_m': Value('float64'), 'camera_capture_to_sync_position_step_max_m': Value('float64'), 'camera_capture_to_sync_rotation_step_max_rad': Value('float64'), 'not_a_camera_exposure_error_bound': Value('bool')}}
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.
DextraVerse
Dexterous manipulation data with fingertip tactile sensing from the DextraVerse project (MARS Lab, Nanyang Technological University): a Dexmate Vega dual-arm robot with two 22-DoF SharpaWave hands. Everything is in the Open-X-Tactile format (the FTP-1 zarr layout); the Open-X-Tactile site documents the format and how to load it.
All archives live in DextraVerse/: one real-robot task and three simulated tasks, each one zarr.
| Folder | Data | Tasks | Episodes | Frames | Archives |
|---|---|---|---|---|---|
DextraVerse/pick_cube_place_box.zarr.zip |
real robot | 1 (pick up a cube, place it in a box) | 261 | 138,382 | pick_cube_place_box.zarr.zip (43 GB) |
DextraVerse/<task>.zarr.zip |
simulation (Isaac) | 3 (handover, pick and place, stack cube) | 300 | 135,734 | three <task>.zarr.zip (25 GB) |
Each part has its own README with the array list, conventions and known limitations. The two share the robot, the hand-joint slot assignment and the wrist-frame convention; they differ in sensors (real SharpaWave fingertips versus synthetic deformation maps and PhysX contact forces), cameras and tactile group names. Read both READMEs before mixing them.
SHA256SUMS.txt lists the hash of every archive:
sha256sum -c SHA256SUMS.txt
unzip DextraVerse/pick_cube_place_box.zarr.zip # -> pick_cube_place_box.zarr (real robot)
unzip DextraVerse/handover.zarr.zip # -> handover.zarr (simulation; ZIP64)
License and contact
Released under CC BY 4.0. Contact: xiangyu.chen@ntu.edu.sg; chuhao002@e.ntu.edu.sg; jiaxiao.shi@ntu.edu.sg
- Downloads last month
- 377