Datasets:

yuzhench
/

active-perception-sim-data

Tasks:

Robotics

Tags:

articulated-object-manipulation

sapien

partnet-mobility

ablation-study

License:

Dataset card Data Studio Files Files and versions

xet

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The dataset generation failed

Error code:   DatasetGenerationError
Exception:    TypeError
Message:      int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
                  for key, record in generator:
                                     ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 127, in _generate_examples
                  for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
                                              ~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
                  for filename, f in tar_iterator:
                                     ^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
                  for x in self.generator(*self.args):
                           ~~~~~~~~~~~~~~^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1405, in _iter_from_urlpath
                  with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
                       ~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 982, in xopen
                  file_obj = fs.open(paths[0], mode)
                File "<string>", line 3, in open
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
                  return self._mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
                  return self._execute_mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
                  result = effect(*args, **kwargs)
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 786, in wrapped
                  tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
                                                               ~~~^^^^^^^^
              TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
              
              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 1393, 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 1571, 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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png image	__key__ string	__url__ string
	_runtime/ablation_study/45372/door/baseline/step2_out/step2_locate_handle_gdzoom_crop	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step2_out/step2_locate_cabinet_front	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step2_out/frame	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step2_out/step2_locate_interactive_part_gdzoom_crop	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step2_out/step2_locate_handle	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step2_out/step2_locate_interactive_part	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step3_out/cabinet_front_sam_triple_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step3_out/handle_rgb_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step3_out/part_rgb_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step3_out/cabinet_front_rgb_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step3_out/part_sam_triple_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step3_out/part_normal_debug	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step3_out/handle_sam_triple_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step1_out/frame	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/grasp/handle_rgb_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/grasp/part_sam_triple_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/grasp/normal_debug	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/grasp/handle_sam_triple_hires	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/redetect/inline_locate_cabinet_front	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/redetect/frame	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/redetect/inline_locate_part	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob2/regrasp/redetect/inline_locate_handle	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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	_runtime/ablation_study/45372/door/baseline/step6_out/prob5/regrasp/redetect/inline_locate_cabinet_front	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob5/regrasp/redetect/frame	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob5/regrasp/redetect/inline_locate_part	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
	_runtime/ablation_study/45372/door/baseline/step6_out/prob5/regrasp/redetect/inline_locate_handle	hf://datasets/yuzhench/active-perception-sim-data@115107c13a85e9934deb373027559d37ff7a829c/ablation_study.tar
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active_perception — 仿真数据 (VLM_PLAN)

SAPIEN 仿真中铰接物体操作（开门 / 拉抽屉）的实验数据。管线： VLM 解析指令 → 开放词检测 → GraspGen 抓取 → 交互探测判型 → 门绕轴弧开 / 抽屉直拉。

代码：https://github.com/lauyihong/active_perception （VLM_PLAN/）

文件

tar	解开后	内容
`ablation_study.tar`	12G	正式消融主结果：18 个柜子 id / 33 个 case / 5 种 mode
`ablation_study_door_rerun.tar`	4.6G	11 扇门 normal 重跑 —— 带 CoTracker、可忠实回放，质量最高
`runtime_per_id.tar`	8.9G	26 个 id 的早期单次运行（多与上面重叠）
`runtime_old.tar`	16G	旧归档，含 REAL_WORLD 真机数据 3.9G

解压：tar -xf <name>.tar（未压缩，内容本身已是 png/npy/mp4）

目录布局 —— 注意两套顺序是反的

ablation_study/<柜子id>/<部件>/<mode>/        ← 正式消融
<柜子id>/<mode>/<部件>[_时间戳]/               ← 早期单跑 (runtime_per_id)

<mode> 五种：baseline · baseline_minus · normal · normal_w_axis · normal_w_gt_axis

单个 case 里有什么

step1_out/   VLM 任务决策（部件 / 把手短语）
step2_out/   开放词检测：part bbox + handle bbox
step3_out/   SAM mask · GraspGen 抓取位姿 · grasp/advance_trajectory.json
step4_out/   probe + 关节判型 + CoTracker（joint_from_tcp 与 track 两套估计）
step5_out/   抽屉：长拉        step6_out/  门：reopen-arc
cotracker_runs/   v1_probe · v2_arc · …（tracks.npy · visibility.npy · 可视化）
dashboard/   实时可视化落盘 · status.json · arm_log.txt
trajectory/  逐帧 panda_qpos(9 关节) + cabinet_qpos
recording_*.mp4 · replay_video.mp4
<mode>_result.json    ← 注意：normal 模式没有这个文件

成败统计

mode	成功	失败	合计
`baseline`	18	14	32
`baseline_minus`	11	21	32
`normal_w_axis`	15	7	22
`normal_w_gt_axis`	19	3	22
`normal`	无 result.json		27

normal 的成败需从 step6_out/step6_out.json 的 door_open_deg_gt（门 ≥45° 为成）判定。

⚠️ 三个已知的坑（用前必读）

ablation_study_door_rerun/ 里每个 case 的 setup.json 是错的（默认场景拷贝）。真实场景在 ablation_study/<id>/<门>/normal/setup.json。拿错的那份重建，机械臂底座和相机会摆到默认位置 → 虚空抓。
dashboard/gt_axis.json 对多门柜是错的 —— GT 轴写死读 joint_0，同一柜子的多扇门会拿到同一根轴（44781 的 left/right、45194 的 bl/br 已核实相同）。别拿它算轴误差。
CoTracker 的 joint_estimate.joint_type 不可靠 —— 11 扇门里 8 扇误判成 prismatic。数值请直接取 track.joint_estimate.revolute.*，别信它的类型决策。方法自身的 joint_from_tcp 判型 11/11 全对。

门重跑 11 扇结果

门	开门角(GT)	≥45°
40147/left_door	58.4°	✅
44781/left_door	1.8°	❌
44781/right_door	5.8°	❌
45162/lower_door	45.8°	✅
45194/bottom_left_door	49.8°	✅
45194/bottom_right_door	55.1°	✅
45213/door	39.1°	❌
45244/lower_door	50.7°	✅
45249/door	47.0°	✅
45423/upper_door	50.8°	✅
45961/top_door	39.5°	❌

开成 7/11。开门角是 sim 的 GT 门角，仅作事后评估，不进决策。

*_wo_cotracker/ 是 45162 / 45244 / 45249 最早没开 CoTracker 的成功版备份，不计入 11 扇。

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Total file size:

42.4 GB