Dataset Viewer
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: TypeError
Message: Couldn't cast array of type
struct<frame: int64, method: string, optimizer_message: string, optimizer_status: int64, optimizer_success: bool, post_repair_violation_m: double, pre_repair_violation_m: double, robot_root_rotation_delta_deg: double, robot_root_rotation_delta_rotvec: list<item: double>, robot_root_translation_delta_m: list<item: double>, geometry_names: list<item: string>>
to
{'frame': Value('int64'), 'geometry_names': List(Value('string')), 'pre_repair_violation_m': Value('float64'), 'robot_root_translation_delta_m': List(Value('float64'))}
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 2312, in cast_table_to_schema
cast_array_to_feature(
~~~~~~~~~~~~~~~~~~~~~^
table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
feature,
^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2068, in cast_array_to_feature
_c(array.field(name) if name in array_fields else null_array, subfeature)
~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1863, in wrapper
return func(array, *args, **kwargs)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2118, in cast_array_to_feature
casted_array_values = _c(array.values, feature.feature)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1863, in wrapper
return func(array, *args, **kwargs)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2158, in cast_array_to_feature
raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
TypeError: Couldn't cast array of type
struct<frame: int64, method: string, optimizer_message: string, optimizer_status: int64, optimizer_success: bool, post_repair_violation_m: double, pre_repair_violation_m: double, robot_root_rotation_delta_deg: double, robot_root_rotation_delta_rotvec: list<item: double>, robot_root_translation_delta_m: list<item: double>, geometry_names: list<item: string>>
to
{'frame': Value('int64'), 'geometry_names': List(Value('string')), 'pre_repair_violation_m': Value('float64'), 'robot_root_translation_delta_m': List(Value('float64'))}Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Sharpa Artifacts
Public, versioned machine artifacts for the Sharpa functional-reorientation pipeline.
Source code and download validators live in
ai4ce/dex_retarget.
Layout
Artifacts are organized by object and immutable release:
objects/<object>/releases/<release-id>/
The current Stage3-compatible release is
objects/phone/releases/phone20-stage12-v2. It contains 20 accepted Stage1
NPZ files, 20 final Sharpa retargeted_moving28_60fps.h5 trajectories, and the
human/canonical H5, QA video, manifests, GoalContracts, and handoffs required by
the current strict Stage3 provenance contract.
release_manifest.json and checksums.sha256 define every released byte.
Consumers should pin an exact repository revision and verify the release
manifest before use.
Releases
phone20-stage12-v2: current Stage3-compatible layout; preserves each handoff's originalinputs/,stage2/,contracts/, andqa/paths.phone20-stage12-v1: historical first upload; usable for direct artifact inspection but superseded for Stage3 because it renamedinputs/tostage1/and omitted the handoff-bound QA video.
Data boundary
This repository contains derived research artifacts. It does not contain raw Vicon/MANUS capture, checkpoints, teacher rollouts, behavior-cloning datasets, or training logs. Public access does not grant rights to unrelated third-party assets; users remain responsible for their applicable licenses.
Current Stage3-compatible identity
- Release:
phone20-stage12-v2 - Artifact commit:
7c3a60460e2c953c929fbfffdc1ab5a9a8607851 - Release manifest SHA256:
84bd39b42ba3cdd0f9985fb4d6e1c002654d051dd7666b9fe9350b049b9b4149 - Source producer commit:
22d7dd4ae9dd782625464788e5741a0565311c77 - Source state: clean; all 20 handoffs record
STAGE2_HANDOFF_ACCEPTED
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