Datasets:

Huggingzhu1
/

stretch_raw_episodes

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
head_cam: struct<mount_link: string, configuration: struct<type: string, mesh: string, resolution: list<item:  (... 953 chars omitted)
  child 0, mount_link: string
  child 1, configuration: struct<type: string, mesh: string, resolution: list<item: int64>, frequency: int64, calibration: str (... 294 chars omitted)
      child 0, type: string
      child 1, mesh: string
      child 2, resolution: list<item: int64>
          child 0, item: int64
      child 3, frequency: int64
      child 4, calibration: struct<file: string, device: string, profile: string, image_model: string, image_fit: string, image_ (... 55 chars omitted)
          child 0, file: string
          child 1, device: string
          child 2, profile: string
          child 3, image_model: string
          child 4, image_fit: string
          child 5, image_rotation_clockwise_deg: int64
          child 6, expected_sha256: string
      child 5, clipping_range: list<item: double>
          child 0, item: double
      child 6, focus_distance: int64
      child 7, mode: string
      child 8, mount_link: string
      child 9, pos: list<item: int64>
          child 0, item: int64
      child 10, ori: list<item: int64>
          child 0, item: int64
  child 2, intrinsics: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 3, depth: string
  child 4, calibration: struct<file: string, sha256: string, device: string, serial_number: string, profile: string, sourc
...
    child 0, item: double
  child 3, depth: string
  child 4, calibration: struct<file: string, sha256: string, device: string, serial_number: string, profile: string, source_ (... 442 chars omitted)
      child 0, file: string
      child 1, sha256: string
      child 2, device: string
      child 3, serial_number: string
      child 4, profile: string
      child 5, source_resolution: list<item: int64>
          child 0, item: int64
      child 6, resolution: list<item: int64>
          child 0, item: int64
      child 7, image_rotation_clockwise_deg: int64
      child 8, resize: string
      child 9, rectified_source_focal_pixels: double
      child 10, intrinsics: list<item: list<item: double>>
          child 0, item: list<item: double>
              child 0, item: double
      child 11, image_model: string
      child 12, source_distortion: struct<model: string, coefficients: list<item: double>>
          child 0, model: string
          child 1, coefficients: list<item: double>
              child 0, item: double
      child 13, rendered_distortion: struct<model: string, coefficients: list<item: double>>
          child 0, model: string
          child 1, coefficients: list<item: double>
              child 0, item: double
      child 14, depth: string
      child 15, raw_depth_to_color_applied: bool
      child 16, limitations: string
worst: null
scope: string
arm_torso_clip_steps: int64
maximum_arm_torso_vertex_penetration_m: double
tolerance_m: double
samples: int64
to
{'samples': Value('int64'), 'arm_torso_clip_steps': Value('int64'), 'maximum_arm_torso_vertex_penetration_m': Value('float64'), 'tolerance_m': Value('float64'), 'worst': Value('null'), 'scope': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, 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 129, 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 544, 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 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, 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 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, 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 361, 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 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              head_cam: struct<mount_link: string, configuration: struct<type: string, mesh: string, resolution: list<item:  (... 953 chars omitted)
                child 0, mount_link: string
                child 1, configuration: struct<type: string, mesh: string, resolution: list<item: int64>, frequency: int64, calibration: str (... 294 chars omitted)
                    child 0, type: string
                    child 1, mesh: string
                    child 2, resolution: list<item: int64>
                        child 0, item: int64
                    child 3, frequency: int64
                    child 4, calibration: struct<file: string, device: string, profile: string, image_model: string, image_fit: string, image_ (... 55 chars omitted)
                        child 0, file: string
                        child 1, device: string
                        child 2, profile: string
                        child 3, image_model: string
                        child 4, image_fit: string
                        child 5, image_rotation_clockwise_deg: int64
                        child 6, expected_sha256: string
                    child 5, clipping_range: list<item: double>
                        child 0, item: double
                    child 6, focus_distance: int64
                    child 7, mode: string
                    child 8, mount_link: string
                    child 9, pos: list<item: int64>
                        child 0, item: int64
                    child 10, ori: list<item: int64>
                        child 0, item: int64
                child 2, intrinsics: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 3, depth: string
                child 4, calibration: struct<file: string, sha256: string, device: string, serial_number: string, profile: string, sourc
              ...
                  child 0, item: double
                child 3, depth: string
                child 4, calibration: struct<file: string, sha256: string, device: string, serial_number: string, profile: string, source_ (... 442 chars omitted)
                    child 0, file: string
                    child 1, sha256: string
                    child 2, device: string
                    child 3, serial_number: string
                    child 4, profile: string
                    child 5, source_resolution: list<item: int64>
                        child 0, item: int64
                    child 6, resolution: list<item: int64>
                        child 0, item: int64
                    child 7, image_rotation_clockwise_deg: int64
                    child 8, resize: string
                    child 9, rectified_source_focal_pixels: double
                    child 10, intrinsics: list<item: list<item: double>>
                        child 0, item: list<item: double>
                            child 0, item: double
                    child 11, image_model: string
                    child 12, source_distortion: struct<model: string, coefficients: list<item: double>>
                        child 0, model: string
                        child 1, coefficients: list<item: double>
                            child 0, item: double
                    child 13, rendered_distortion: struct<model: string, coefficients: list<item: double>>
                        child 0, model: string
                        child 1, coefficients: list<item: double>
                            child 0, item: double
                    child 14, depth: string
                    child 15, raw_depth_to_color_applied: bool
                    child 16, limitations: string
              worst: null
              scope: string
              arm_torso_clip_steps: int64
              maximum_arm_torso_vertex_penetration_m: double
              tolerance_m: double
              samples: int64
              to
              {'samples': Value('int64'), 'arm_torso_clip_steps': Value('int64'), 'maximum_arm_torso_vertex_penetration_m': Value('float64'), 'tolerance_m': Value('float64'), 'worst': Value('null'), 'scope': Value('string')}
              because column names don't match

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Stretch pi0.5 raw simulation episodes

Raw per-episode recordings behind the Huggingzhu1/stretch_pickup_nav_* LeRobot exports: Stretch 3 in Isaac Sim navigating to a desk, around and past animated people, and picking up a small object. One folder per campaign, one sub-folder per attempt: steps.jsonl (10 Hz control log with controller diagnostics), metrics.json (grading, person-motion events, grasp re-plan), resolved_scene.yaml (the sampled scene), camera manifests, avatar audits and, for accepted demos, dataset/ (head and wrist RGB videos, actions, states). Rejected attempts keep their logs but their dataset/ folder was pruned. Uploaded with upload_large_folder; the folder is hard-linked from the campaign directories on the lab server.

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Total file size:

494 GB