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The dataset generation failed
Error code: DatasetGenerationError
Exception: IndexError
Message: list index out of range
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1859, in _prepare_split_single
original_shard_lengths[original_shard_id] += len(table)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^
IndexError: list index out of range
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 datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
t float64 | leg int64 | reason string | contact_pair list | contact_kind string | leg_phase float64 | armed null | cooldown_remaining float64 |
|---|---|---|---|---|---|---|---|
1.31 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.312 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.314 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.316 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.318 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.32 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.322 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.324 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.326 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.328 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.33 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.332 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.334 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.336 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.338 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.338 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.34 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.34 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.342 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.342 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.344 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.344 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.346 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.346 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.348 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.348 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.35 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.35 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.352 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.352 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 5.34 | null | 0 |
1.354 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.356 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.358 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.36 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.362 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.364 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.366 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.368 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.37 | 1 | R4_LOAD_HOLD | [
"floor",
"foot1"
] | floor | 5.35 | null | 0 |
1.392 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.394 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.396 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.398 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.4 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.402 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.404 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.406 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.408 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.41 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.412 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.414 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.416 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.418 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.42 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.422 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.424 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.426 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.428 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.43 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.432 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.434 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.436 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.438 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.44 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.442 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.444 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.446 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.448 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.45 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.452 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.454 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.456 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.458 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.46 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.462 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.464 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.466 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.468 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.47 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.472 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.474 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.476 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.478 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.48 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.482 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.484 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.486 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.488 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.49 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.492 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.494 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.496 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.498 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.5 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.502 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.504 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 6.26 | null | 0 |
1.504 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.506 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 6.26 | null | 0 |
1.506 | 5 | R4_LOAD_HOLD | [
"floor",
"foot5"
] | floor | 5.77 | null | 0 |
1.508 | 3 | R4_LOAD_HOLD | [
"floor",
"foot3"
] | floor | 6.26 | null | 0 |
End of preview.
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
Verified measurements — schema 2 (2026-09-27)
The latest verified runs are in runs/2026-09-27-schema2.
See the results,
summary, and
manifest with code and artifact SHA256.
This revision fixes the definition of body tilt, separates peak and final body drop, and distinguishes reflex episode starts from active output ticks. False positives are labelled only for the flat no-reflex oracle; obstacle/gap values are null. R4 has 108 starts and 10,544 active ticks on flat, not 10,544 triggers. Peak body drop in B03 is 156.0 mm for BASE and 24.6 mm for R3v2.
All nine 20-second trials were run with Python 3.11.16, NumPy 2.4.6 and MuJoCo
3.14.0 on code revision 62ce2a97eb44c3a06cdd4172591eb2e724684bbc (seed 42).
There is no neural checkpoint in these analytic controller runs. Event JSONL
does not contain a complete kinematic trajectory or video.
The original root-level files and the historical results below are preserved.
Their false_events outside flat and max_tilt_deg are not valid measurements;
their body_drop_mm is final drop, not peak drop. Use the schema 2 files for
current comparisons.
MUKHTAR-Bench v1
Воспроизводимые бенчмарки рефлекторного слоя ARGOS-MUKHTAR (шестиногий робот, MuJoCo, 6 ног × 3 сустава).
Все прогоны детерминированы (MuJoCo без стохастики), seed=42 декларируется для воспроизводимости. Контроллеры: A (CPGGaitController, эталонный синус-CPG), Б (SineContactController, контактная обратная связь), рефлексы поверх Б: R1b foot-catch, R3 v2 searching (AMOS II prediction error), R4 v2 load-coordination (experimental).
Файлы
summary.json— агрегат всех прогонов: distance_m, fell, false_events, body_drop_mm, min_foot_z_mm, max_tilt_deg, net_progress, time_to_first_search_s, search_duration_ms, ground_found, r4_holds, …{bench}_{controller}_events.jsonl— по строке на событие рефлекса:t, leg, reason, contact_pair, contact_kind, leg_phase, armed, cooldown_remaining.scenarios.md— геометрии сцен и параметры прогонов.
Результаты (27.09.2026, нода Coral)
| Bench | Контроллер | distance_m | fell | события |
|---|---|---|---|---|
| B01-flat | BASE | 1.260 | 0 | 0 |
| B01-flat | R1b | 1.260 | 0 | 0 |
| B01-flat | R3v2 | 1.260 | 0 | 0 |
| B01-flat | R4 (exp) | 0.887 | 0 | 10544 (deadlock) |
| B02-footcatch12 | BASE | 0.486 | 0 | 0 (застрял) |
| B02-footcatch12 | R1b | 1.238 | 0 | 9 R1B_FOOT_CATCH |
| B03-gap20 | BASE | 0.939 | 1 | 0 (просадка 152 мм) |
| B03-gap20 | R3v2 | 0.987 | 0 | 1911 (search+retract) |
| B03-gap20 | R1b+R3v2 | 1.190 | 0 | 730 |
Статусы MUKHTAR-Bench v1
- B01-flat — confirmed (ложных 0 у R1b/R3v2)
- B02-footcatch12 — confirmed (R1b: 0.486 → 1.238, проход)
- B03-gap20 — confirmed (R3 v2: fell 1→0, просадка 152→19 мм)
- B04-rough4_10 — planned
- B05-turn — planned (T2 steering)
- B06-stuck — planned (recovery)
- B07-cpg-ko — материалы готовы (cpg_m0: KO DNg100/E1/E2/I1/I2/I1+I2), полноценный bench planned
- B08-cpg-prc — planned (cpg_prc.py на ноде)
- B09-six-cpg — planned (все 6 MaleCNS-модулей)
- B10-looming — future (visual escape, LC16→MDN)
Известные отрицательные результаты (честно)
- R4 v2 load-hold: deadlock на походке Б (активный lift-off не даёт разгрузки до подъёма) — flat 1.26→0.887 м. Не принят в stable.
- R1a tibia-stumble: на текущей геометрии тибия не достаёт до препятствий (скан 12–28 мм: 0 контактов); off по умолчанию.
- Global neural metronome + I2 phase reset: хуже baseline (локальная пертурбация ноги сбивала всю походку).
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