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Datasets:
ChenyuanC
/
trashbin_v1_0

Tasks:
Robotics
Tags:
sonic
unitree-g1
teleoperation
lerobot
Dataset card Files
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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:    ArrowInvalid
Message:      JSON parse error: Invalid value. in row 0
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 324, in _generate_tables
                  df = pandas_read_json(f)
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
                  return pd.read_json(path_or_buf, **kwargs)
                         ~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 791, in read_json
                  json_reader = JsonReader(
                      path_or_buf,
                  ...<16 lines>...
                      engine=engine,
                  )
                File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 905, in __init__
                  self.data = self._preprocess_data(data)
                              ~~~~~~~~~~~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 917, in _preprocess_data
                  data = data.read()
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 844, in read_with_retries
                  out = read(*args, **kwargs)
                File "<frozen codecs>", line 325, in decode
              UnicodeDecodeError: 'utf-8' codec can't decode byte 0xb0 in position 7: invalid start byte
              
              During handling of the above exception, another exception occurred:
              
              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 2840, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, 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 327, in _generate_tables
                  raise e
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
                  pa_table = paj.read_json(
                      io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
                  )
                File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowInvalid: JSON parse error: Invalid value. in row 0

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Trash bin (SONIC v1.0)

SONIC teleoperation dataset for Throw the trash bag into the bin.

Recorded with the SONIC v1.0 release whole-body controller (policy/release, nominal PD gains). The recorded action.motion_token values are SONIC v1.0 tokens: do not mix this dataset with SONIC v1.1 recordings when training, and deploy policies trained on it with SONIC v1.0.

The ZIP contains the complete trashbin_v1_0/ directory, including data, videos, metadata, recording outcomes, and original discard flags.

Contents Count
Episodes 51
Frames 27,906
Saved episodes / frames 15 / 6,503
Discarded episodes / frames 36 / 21,403
Original files 160

RGB videos are 640 x 360 at 30 fps. Discarded episode indices are 0, 1, 2, 3, 4, 5, 6, 7, 10, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 30, 31, 32, 34, 35, 39, 40, 42, 43, 44, 45, 46, 47, 48. All original files are preserved. No episodes were filtered or relabeled. Saved means marked saved by the recorder; task success was not assessed for this upload. When preparing training data, honor meta/info.json's discarded_episode_indices and meta/recording_outcomes/; the raw train split also includes discarded episodes.

Extract with unzip trashbin_v1_0.zip. Verify with sha256sum -c SHA256SUMS. Per-file SHA256 hashes are listed in archive_manifest.json. The snapshot was taken during collection on 2026-09-24 (Asia/Dubai) and contains takes 0-50.
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Total file size:
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Models trained or fine-tuned on ChenyuanC/trashbin_v1_0