Datasets:

EurekaZang123
/

Kino-Fail

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
action: string
case_id: string
created_utc: string
decision_progress_m: double
decision_step: int64
decision_time_s: double
decision_time_skew_s: double
domain: string
fell: bool
final_lateral_m: double
final_progress_m: double
final_speed_mps: double
maximum_tilt_rad: double
minimum_base_height_m: double
operator_recovery_endpoint_type: string
operator_recovery_success: bool
operator_telemetry_final: struct<actuator_limit_readback: struct<base_legs: struct<effort_limit: struct<max: double, min: doub (... 776 chars omitted)
  child 0, actuator_limit_readback: struct<base_legs: struct<effort_limit: struct<max: double, min: double>, saturation_effort: struct<m (... 76 chars omitted)
      child 0, base_legs: struct<effort_limit: struct<max: double, min: double>, saturation_effort: struct<max: double, min: d (... 57 chars omitted)
          child 0, effort_limit: struct<max: double, min: double>
              child 0, max: double
              child 1, min: double
          child 1, saturation_effort: struct<max: double, min: double>
              child 0, max: double
              child 1, min: double
          child 2, velocity_limit: struct<max: double, min: double>
              child 0, max: double
              child 1, min: double
  child 1, effort_limit_nm: double
  child 2, effort_scale: double
  child 3, joint_names: list<item: string>
      child 0, item: string
  child 4, last_sample: struct<binding_joint_fraction: double, mechanical_power_w: list<item: double>, torq
...

  child 5, source_manifest: string
  child 6, source_manifest_sha256: string
source_physical_nuisance: struct<controller_target_lateral_offset_m: double, forward_speed_mps: double, pair_shared: bool, phy (... 131 chars omitted)
  child 0, controller_target_lateral_offset_m: double
  child 1, forward_speed_mps: double
  child 2, pair_shared: bool
  child 3, physics_seed: int64
  child 4, profile_index: int64
  child 5, start_heading_offset_rad: double
  child 6, start_lateral_offset_m: double
  child 7, start_progress_m: double
source_proprio_replay_certificate: struct<available_feature_rows: int64, available_timestamp_count: int64, external_snapshot_replay_cla (... 112 chars omitted)
  child 0, available_feature_rows: int64
  child 1, available_timestamp_count: int64
  child 2, external_snapshot_replay_claimed: bool
  child 3, maximum_tolerance_normalized_difference: double
  child 4, mode: string
  child 5, passed: bool
  child 6, schema_version: string
steps: int64
strict_o9_semantics_seen: null
terminal_cost: double
terminal_cost_without_safety_exposure: double
trace: string
trace_sha256: string
true_operator: string
unfavorable_outcome_retained: bool
maximum_absolute_predecision_difference: double
arms: int64
maximum_proprio_tolerance_normalized_difference: double
all_recovery_numeric_trajectories_distinct: bool
distinct_recovery_numeric_trace_count: int64
source_proprio_replay_passed: bool
same_decision_step: bool
prefix_shapes_equal: bool
passed: bool
tolerance: double
to
{'all_recovery_numeric_trajectories_distinct': Value('bool'), 'arms': Value('int64'), 'case_id': Value('string'), 'distinct_recovery_numeric_trace_count': Value('int64'), 'maximum_absolute_predecision_difference': Value('float64'), 'maximum_proprio_tolerance_normalized_difference': Value('float64'), 'passed': Value('bool'), 'prefix_shapes_equal': Value('bool'), 'same_decision_step': Value('bool'), 'schema_version': Value('string'), 'source_proprio_replay_passed': Value('bool'), 'tolerance': Value('float64')}
because column names don't match
Traceback:    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 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_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
              action: string
              case_id: string
              created_utc: string
              decision_progress_m: double
              decision_step: int64
              decision_time_s: double
              decision_time_skew_s: double
              domain: string
              fell: bool
              final_lateral_m: double
              final_progress_m: double
              final_speed_mps: double
              maximum_tilt_rad: double
              minimum_base_height_m: double
              operator_recovery_endpoint_type: string
              operator_recovery_success: bool
              operator_telemetry_final: struct<actuator_limit_readback: struct<base_legs: struct<effort_limit: struct<max: double, min: doub (... 776 chars omitted)
                child 0, actuator_limit_readback: struct<base_legs: struct<effort_limit: struct<max: double, min: double>, saturation_effort: struct<m (... 76 chars omitted)
                    child 0, base_legs: struct<effort_limit: struct<max: double, min: double>, saturation_effort: struct<max: double, min: d (... 57 chars omitted)
                        child 0, effort_limit: struct<max: double, min: double>
                            child 0, max: double
                            child 1, min: double
                        child 1, saturation_effort: struct<max: double, min: double>
                            child 0, max: double
                            child 1, min: double
                        child 2, velocity_limit: struct<max: double, min: double>
                            child 0, max: double
                            child 1, min: double
                child 1, effort_limit_nm: double
                child 2, effort_scale: double
                child 3, joint_names: list<item: string>
                    child 0, item: string
                child 4, last_sample: struct<binding_joint_fraction: double, mechanical_power_w: list<item: double>, torq
              ...
              
                child 5, source_manifest: string
                child 6, source_manifest_sha256: string
              source_physical_nuisance: struct<controller_target_lateral_offset_m: double, forward_speed_mps: double, pair_shared: bool, phy (... 131 chars omitted)
                child 0, controller_target_lateral_offset_m: double
                child 1, forward_speed_mps: double
                child 2, pair_shared: bool
                child 3, physics_seed: int64
                child 4, profile_index: int64
                child 5, start_heading_offset_rad: double
                child 6, start_lateral_offset_m: double
                child 7, start_progress_m: double
              source_proprio_replay_certificate: struct<available_feature_rows: int64, available_timestamp_count: int64, external_snapshot_replay_cla (... 112 chars omitted)
                child 0, available_feature_rows: int64
                child 1, available_timestamp_count: int64
                child 2, external_snapshot_replay_claimed: bool
                child 3, maximum_tolerance_normalized_difference: double
                child 4, mode: string
                child 5, passed: bool
                child 6, schema_version: string
              steps: int64
              strict_o9_semantics_seen: null
              terminal_cost: double
              terminal_cost_without_safety_exposure: double
              trace: string
              trace_sha256: string
              true_operator: string
              unfavorable_outcome_retained: bool
              maximum_absolute_predecision_difference: double
              arms: int64
              maximum_proprio_tolerance_normalized_difference: double
              all_recovery_numeric_trajectories_distinct: bool
              distinct_recovery_numeric_trace_count: int64
              source_proprio_replay_passed: bool
              same_decision_step: bool
              prefix_shapes_equal: bool
              passed: bool
              tolerance: double
              to
              {'all_recovery_numeric_trajectories_distinct': Value('bool'), 'arms': Value('int64'), 'case_id': Value('string'), 'distinct_recovery_numeric_trace_count': Value('int64'), 'maximum_absolute_predecision_difference': Value('float64'), 'maximum_proprio_tolerance_normalized_difference': Value('float64'), 'passed': Value('bool'), 'prefix_shapes_equal': Value('bool'), 'same_decision_step': Value('bool'), 'schema_version': Value('string'), 'source_proprio_replay_passed': Value('bool'), 'tolerance': Value('float64')}
              because column names don't match

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Kino-Fail

Kino-Fail is a counterfactual benchmark for recovery-relevant failure attribution in quadrupedal navigation. The ICRA paper-facing release contains 11 physics and sensing interventions, 191 RTX/PBR scenes, 11,418 matched groups, and 22,836 accepted physical units.

Release status: complete.

Data organization

data/scale/<scene>/: five-frame front-camera RGB and 21x19 proprioception windows.
data/conflict/<scene>/: T2 visual-decisive and T3 proprioception-decisive snapshots.
features/: the frozen all-191 feature matrices used for the reported benchmark.
actions/: formal branched recovery trajectories.
metadata/: official unit index, scene registry, audits, and benchmark reports.

Each appearance view belongs to its underlying physical episode and is not an independent physical sample. Evaluation should use the official physical-unit index in metadata/benchmark/physical_units.jsonl.

Scope

This release contains generated sensor observations, proprioceptive trajectories, labels, and experiment metadata. It excludes launcher logs, crash material, local filesystem paths, simulator caches, source .blend/.usd assets, and superseded development corpora. Unitree and Isaac Sim assets are not redistributed.

Code

Generation and evaluation code: https://github.com/EurekaZang/KinoVLA

Downloads last month: 191

Total file size:

130 GB