Datasets:

saralsystems
/

sewer-vla-mujoco-v0

Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
observation.images.front: struct<bytes: binary, path: string>
  child 0, bytes: binary
  child 1, path: string
observation.images.wrist: struct<bytes: binary, path: string>
  child 0, bytes: binary
  child 1, path: string
observation.state: fixed_size_list<item: float>[18]
  child 0, item: float
action: fixed_size_list<item: float>[7]
  child 0, item: float
reward: double
timestamp: double
episode_index: int64
frame_index: int64
task: string
success: bool
next.reward: double
next.done: bool
index: int64
-- schema metadata --
huggingface: '{"info": {"features": {"observation.images.front": {"_type"' + 717
to
{'indices': Value('uint64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1872, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/arrow/arrow.py", line 74, in _generate_tables
                  yield Key(file_idx, batch_idx), self._cast_table(pa_table)
                                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/arrow/arrow.py", line 54, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              observation.images.front: struct<bytes: binary, path: string>
                child 0, bytes: binary
                child 1, path: string
              observation.images.wrist: struct<bytes: binary, path: string>
                child 0, bytes: binary
                child 1, path: string
              observation.state: fixed_size_list<item: float>[18]
                child 0, item: float
              action: fixed_size_list<item: float>[7]
                child 0, item: float
              reward: double
              timestamp: double
              episode_index: int64
              frame_index: int64
              task: string
              success: bool
              next.reward: double
              next.done: bool
              index: int64
              -- schema metadata --
              huggingface: '{"info": {"features": {"observation.images.front": {"_type"' + 717
              to
              {'indices': Value('uint64')}
              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 1347, in compute_config_parquet_and_info_response
                  parquet_operations = convert_to_parquet(builder)
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 980, in convert_to_parquet
                  builder.download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 884, in download_and_prepare
                  self._download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 947, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1739, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1922, 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

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10,975

End of preview.

sewer-vla-mujoco-v0

Expert demonstration dataset for autonomous sewer maintenance robotics.

500 episodes | 20,014 frames | 4 sub-tasks

Quick Start

from datasets import load_from_disk
ds = load_from_disk("data/lerobot/dataset")
print(ds[0].keys())

Embodiment

Platform: sewer-vla-mujoco-proxy
Base: Tracked differential-drive, 600mm width
Arm: 4-DOF articulated arm with scoop end-effector
Cameras: Front RGB (480x640), Wrist RGB (224x224)

Action Space

7-DOF: [base_fwd, base_lat, j1, j2, j3, j4, scoop]

All values normalized to [-1, 1].

Observation Keys

Key	Shape	Type
front_rgb	(480, 640, 3)	uint8
wrist_rgb	(224, 224, 3)	uint8
joint_pos	(4,)	float32
joint_vel	(4,)	float32
ee_pos	(3,)	float32
ee_quat	(4,)	float32
base_pos	(3,)	float32

Tasks

Task	Episodes	Success Rate
navigate to blockage	125	100%
assess and position for extraction	125	94%
extract sludge at current position	125	88%
deposit extracted material	125	99%

Collection Details

Expert policies: Scripted controllers with Jacobian IK
Noise injection: 70% noisy (scale=0.1), 30% clean
Environment: MuJoCo with domain randomization (sludge count, positions, lighting)

Limitations

Rigid-body sludge proxy (not particle fluid)
MuJoCo Phase 0 environment
Scripted expert policies (not human demonstrations)

Source

GitHub: saralsystems/sewer-vla
License: Apache 2.0

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