Datasets:

rpzhou
/

simplewam-precompute-cache

License:

Dataset Preview

Split (1)

train

The full dataset viewer is not available (click to read why). Only showing a preview of the rows.

The dataset generation failed

Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
version: int64
num_frames: int64
action_video_freq_ratio: int64
metadata_cache_storage_format: string
metadata_cache_shard_size: int64
num_samples: int64
action_shape: list<item: int64>
  child 0, item: int64
proprio_shape: list<item: int64>
  child 0, item: int64
image_is_pad_shape: list<item: int64>
  child 0, item: int64
action_is_pad_shape: list<item: int64>
  child 0, item: int64
proprio_is_pad_shape: list<item: int64>
  child 0, item: int64
action_dtype: string
proprio_dtype: string
to
{'text': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  num_examples, num_bytes = writer.finalize()
                                            ~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 781, in finalize
                  self.write_rows_on_file()
                  ~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 663, in write_rows_on_file
                  self._write_table(table)
                  ~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._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
              version: int64
              num_frames: int64
              action_video_freq_ratio: int64
              metadata_cache_storage_format: string
              metadata_cache_shard_size: int64
              num_samples: int64
              action_shape: list<item: int64>
                child 0, item: int64
              proprio_shape: list<item: int64>
                child 0, item: int64
              image_is_pad_shape: list<item: int64>
                child 0, item: int64
              action_is_pad_shape: list<item: int64>
                child 0, item: int64
              proprio_is_pad_shape: list<item: int64>
                child 0, item: int64
              action_dtype: string
              proprio_dtype: string
              to
              {'text': Value('string')}
              because column names don't match
              
              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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1880, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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.

text string
Grab the small bowl with brown edge, arrange them vertically.
Align bowls the bowl with brown outer rim in descending size, forming a stack.
Start with the first the glazed bowl with curved sides, adding the next two in sequence.
Place each the glazed bowl with curved sides on top of the previous one.
Sequentially stack the bowl with brown outer rim using arms to align them.
Place the small bowl with brown edge in a stack with the largest at the foundation.
Hold the blue bowl with slightly rounded base, place them one after another.
Place each the ceramic bowl on top of the previous one.
Position the first the ceramic bowl with earthy brown trim, and sequentially add the two above it.
Stack the the bowl with brown outer rim sequentially using your arms.
Pick up each the dark inside bowl light blue outside and set them one over another.
Carefully stack the bowl with shiny texture piece by piece.
Align bowls the ceramic bowl with earthy brown trim in descending size, forming a stack.
Grab the small bowl with brown edge, stack from largest at the base to the smallest.
Arrange the three the ceramic bowl by stacking them one over the other.
Stack the bowl with shiny texture by arranging them sequentially.
Place one the glazed bowl with curved sides down and carefully stack the others above it.
Stack the medium-sized bowl for holding food, starting with the largest bowl at the bottom.
Stack the small bowl with brown edge from the base up to the top.
Take each the blue bowl with slightly rounded base and place them one by one on top.
Align and stack the the curved bowl light blue shade step by step using arms.
Place the first the glazed bowl with curved sides down, then stack the remaining two.
Place one the blue bowl down and carefully stack the others above it.
Lift each the blue bowl and stack them together neatly.
Grab a the bowl with shiny texture, set it down, and stack the rest on it.
Place the first the rounded bowl with light blue color down, then stack the next two above it.
Take the bottom the blue bowl with slightly rounded base and sequentially pile the other two above.
Place the bottom the bowl with shiny texture, then add the other two on top.
Place the bowl with shiny texture in a stack with the largest at the foundation.
Hold the rounded bowl with light blue color, place them one after another.
Grab a the curved bowl light blue shade, set it down, and stack the rest on it.
Use the arm to stack the the glazed bowl with curved sides one by one.
Stack all three the blue bowl with slightly rounded base directly on top of each other.
Form a tower with bowls the curved bowl light blue shade, placing smallest last.
Place the bowls the ceramic bowl with earthy brown trim in a stacking order.
Use arms to stack each the glazed bowl with curved sides carefully.
Start with the bottom the rounded bowl with light blue color and finish stacking.
Use arms to stack each the curved bowl light blue shade carefully.
Stack all three the bowl with shiny texture by placing one on top of another.
Pick each the bowl with shiny texture and stack them in order one on top of another.
Take the bottom the blue bowl and sequentially pile the other two above.
Arrange the medium-sized bowl for holding food one on top of another.
Place the first the small bowl with brown edge, then align the others on top using the arm.
Use arms to place each the curved bowl light blue shade atop the previous one.
Align the second the bowl with shiny texture atop the first, then add the third above.
Sequentially stack the ceramic bowl using arms to align them.
Position the second the dark inside bowl light blue outside over the first, then the third on top.
Stack the small bowl with brown edge, starting with the largest bowl at the bottom.
Arrange the three the bowl with brown outer rim by stacking them one over the other.
Arrange the ceramic bowl with the largest bowl at the base.
Pick up the medium-sized bowl for holding food and stack them from biggest to smallest.
Stack the ceramic bowl with earthy brown trim from the base up to the top.
Position the second the ceramic bowl with earthy brown trim over the first, then the third on top.
Use arms to place each the medium-sized bowl for holding food atop the previous one.
Arrange all three the dark inside bowl light blue outside into a vertical stack.
Carefully stack the rounded bowl with light blue color piece by piece.
Take the ceramic bowl, stack them from bottom to top.
Arrange the medium-sized bowl for holding food with the largest bowl at the base.
Place the bowls the dark inside bowl light blue outside in a stacking order.
Lift each the ceramic bowl with earthy brown trim and stack it over the previous one.
Grab the first the blue bowl with slightly rounded base, position the second, then add the third.
Stack the the ceramic bowl with earthy brown trim without arms in a vertical sequence.
Place the first the blue bowl down, then stack the next two above it.
Start with the first the small bowl with brown edge, adding the next two in sequence.
Place three the rounded bowl with light blue color on top of each other.
Use the arm to stack the the blue bowl with slightly rounded base one by one.
Form a tower with bowls the medium-sized bowl for holding food, placing smallest last.
Start with one the ceramic bowl, and stack the other two on top.
Place the first the bowl with brown outer rim down, then stack the remaining two.
Align the second the blue bowl atop the first, then add the third above.
Position the medium-sized bowl for holding food one on top of the other largest to smallest.
Align and stack the the bowl with shiny texture step by step using arms.
Stack all the bowl with shiny texture sequentially while handling one at a time.
Stack the the dark inside bowl light blue outside sequentially using your arms.
Arrange the rounded bowl with light blue color one on top of another.
Position the ceramic bowl with earthy brown trim one on top of the other largest to smallest.
Organize bowls the glazed bowl with curved sides by stacking them in size order.
Place the first the dark inside bowl light blue outside, then align the others on top using the arm.
Stack all three the bowl with brown outer rim by placing one on top of another.
Position the first the ceramic bowl, and sequentially add the two above it.
Take the curved bowl light blue shade, stack them from bottom to top.
Place three the dark inside bowl light blue outside on top of each other.
Pick up each the medium-sized bowl for holding food and set them one over another.
Take each the dark inside bowl light blue outside and place them one by one on top.
Place the bottom the ceramic bowl, then add the other two on top.
Stack the the blue bowl with slightly rounded base without arms in a vertical sequence.
Lift each the ceramic bowl with earthy brown trim and stack them together neatly.
Grab the medium-sized bowl for holding food, stack from largest at the base to the smallest.
Organize bowls the rounded bowl with light blue color by stacking them in size order.
Stack all the ceramic bowl sequentially while handling one at a time.
Stack all three the dark inside bowl light blue outside directly on top of each other.
Pick each the dark inside bowl light blue outside and stack them in order one on top of another.
Pick up the ceramic bowl and stack them from biggest to smallest.
Stack the curved bowl light blue shade by arranging them sequentially.
Arrange all three the bowl with shiny texture into a vertical stack.
Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.
Grab the red block, hand it to the right arm, then set it down.
Move the red block using the left arm.
Lift, switch arms, and place the red block.
Grab red block, pass to the right arm, then drop on blue pad.

End of preview.

Simple-WAM Precomputed Caches

Precomputed video latents for LIBERO and RoboTwin, and RoboTwin metadata cache.

Layout

video_latents/
  libero.tar.gz
  robotwin/
    robotwin_part_aa
    robotwin_part_ab
    robotwin_part_ac
    robotwin_part_ad
    robotwin_part_ae
    robotwin_part_af
metadata_cache/
  robotwin/
    manifest.json
    instructions.json
    shards/

Download

Download all files, or use --include to select one cache:

huggingface-cli download rpzhou/simplewam-precompute-cache \
  --repo-type dataset --local-dir ./cache_downloads

For example, --include "video_latents/libero.tar.gz", --include "video_latents/robotwin/*", or --include "metadata_cache/robotwin/*".

Install the Caches

Run the following commands from the Simple-WAM repository root. The relative paths write caches under ./data/ in the current working directory, not /data at the filesystem root. Ensure sufficient free space. The compressed files are unchanged: their internal top-level directories still have the original experiment names. --strip-components=1 removes that prefix during extraction.

LIBERO Video Latents

mkdir -p ./data/video_latents/libero
tar -xzf cache_downloads/video_latents/libero.tar.gz \
  -C ./data/video_latents/libero --strip-components=1

RoboTwin Video Latents

Download all six parts before extracting. Stream them in filename order without creating an additional concatenated archive:

set -o pipefail
mkdir -p ./data/video_latents/robotwin
cat cache_downloads/video_latents/robotwin/robotwin_part_{aa,ab,ac,ad,ae,af} | \
  tar -xzf - -C ./data/video_latents/robotwin --strip-components=1

RoboTwin Metadata Cache

These files are already unpacked:

mkdir -p ./data/metadata_cache/robotwin
cp -a cache_downloads/metadata_cache/robotwin/. ./data/metadata_cache/robotwin/

The metadata cache contains normalized actions, proprioception, padding masks, and instructions. Use compatible dataset ordering, normalization statistics, and preprocessing settings when loading these caches.

Downloads last month: 107

Total file size:

676 GB