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Datasets:
KTAEHWA
/
tread

Tasks:
Robotics
Languages:
English
Size:
1K<n<10K
Tags:
robotics
rgbd
quadruped
terrain
physical-risk
License:
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:    CastError
Message:      Couldn't cast
checked_at: string
status: string
baseline_views: int64
added_views: int64
views: int64
records_with_views: int64
newly_represented_recordings: int64
unique_events: int64
added_unique_events: int64
processed_recovery_records: int64
records_with_new_views: int64
by_terrain: struct<forest: struct<train: int64, validation: int64, all_views: int64>, grass: struct<train: int64 (... 170 chars omitted)
  child 0, forest: struct<train: int64, validation: int64, all_views: int64>
      child 0, train: int64
      child 1, validation: int64
      child 2, all_views: int64
  child 1, grass: struct<train: int64, validation: int64, all_views: int64>
      child 0, train: int64
      child 1, validation: int64
      child 2, all_views: int64
  child 2, gravel: struct<train: int64, validation: int64, all_views: int64>
      child 0, train: int64
      child 1, validation: int64
      child 2, all_views: int64
  child 3, mud: struct<train: int64, validation: int64, all_views: int64>
      child 0, train: int64
      child 1, validation: int64
      child 2, all_views: int64
train_views: int64
validation_views: int64
unlocated_ood_only_views: int64
incident_reviewed: int64
incident_unresolved: int64
remaining_unrecovered_not_deleted: bool
within_site_split_basis: string
label_definition: string
observation_stride_s: double
calibration_uncertainty_deg: int64
calibration_thresholds_scientifically_certified: bool
raw_and_baseline_unchanged: bool
training_started: bool
OOD_folds: struct<bgd_fores
...
int64, validation_views: int64, new_training_started: bool>
      child 0, train_views: int64
      child 1, validation_views: int64
      child 2, new_training_started: bool
  child 1, dorm_forest: struct<train_views: int64, validation_views: int64, new_training_started: bool>
      child 0, train_views: int64
      child 1, validation_views: int64
      child 2, new_training_started: bool
  child 2, engin2: struct<train_views: int64, validation_views: int64, new_training_started: bool>
      child 0, train_views: int64
      child 1, validation_views: int64
      child 2, new_training_started: bool
  child 3, mt_forest: struct<train_views: int64, validation_views: int64, new_training_started: bool>
      child 0, train_views: int64
      child 1, validation_views: int64
      child 2, new_training_started: bool
  child 4, rotc_grass: struct<train_views: int64, validation_views: int64, new_training_started: bool>
      child 0, train_views: int64
      child 1, validation_views: int64
      child 2, new_training_started: bool
overlap: struct<event: int64, episode: int64, frame: int64, patch: int64>
  child 0, event: int64
  child 1, episode: int64
  child 2, frame: int64
  child 3, patch: int64
new_calibration_donors_cross_split: int64
leakage_cluster_overlap: int64
episodes: int64
destination: string
protocol: string
total_views: int64
ood_only_views_included: bool
source_host: string
destination_host: string
contract: string
created_at: string
raw_recordings_included: bool
to
{'created_at': Value('string'), 'source_host': Value('string'), 'destination_host': Value('string'), 'destination': Value('string'), 'protocol': Value('string'), 'train_views': Value('int64'), 'validation_views': Value('int64'), 'total_views': Value('int64'), 'episodes': Value('int64'), 'leakage_cluster_overlap': Value('int64'), 'raw_recordings_included': Value('bool'), 'ood_only_views_included': Value('bool'), 'contract': Value('string')}
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
              checked_at: string
              status: string
              baseline_views: int64
              added_views: int64
              views: int64
              records_with_views: int64
              newly_represented_recordings: int64
              unique_events: int64
              added_unique_events: int64
              processed_recovery_records: int64
              records_with_new_views: int64
              by_terrain: struct<forest: struct<train: int64, validation: int64, all_views: int64>, grass: struct<train: int64 (... 170 chars omitted)
                child 0, forest: struct<train: int64, validation: int64, all_views: int64>
                    child 0, train: int64
                    child 1, validation: int64
                    child 2, all_views: int64
                child 1, grass: struct<train: int64, validation: int64, all_views: int64>
                    child 0, train: int64
                    child 1, validation: int64
                    child 2, all_views: int64
                child 2, gravel: struct<train: int64, validation: int64, all_views: int64>
                    child 0, train: int64
                    child 1, validation: int64
                    child 2, all_views: int64
                child 3, mud: struct<train: int64, validation: int64, all_views: int64>
                    child 0, train: int64
                    child 1, validation: int64
                    child 2, all_views: int64
              train_views: int64
              validation_views: int64
              unlocated_ood_only_views: int64
              incident_reviewed: int64
              incident_unresolved: int64
              remaining_unrecovered_not_deleted: bool
              within_site_split_basis: string
              label_definition: string
              observation_stride_s: double
              calibration_uncertainty_deg: int64
              calibration_thresholds_scientifically_certified: bool
              raw_and_baseline_unchanged: bool
              training_started: bool
              OOD_folds: struct<bgd_fores
              ...
              int64, validation_views: int64, new_training_started: bool>
                    child 0, train_views: int64
                    child 1, validation_views: int64
                    child 2, new_training_started: bool
                child 1, dorm_forest: struct<train_views: int64, validation_views: int64, new_training_started: bool>
                    child 0, train_views: int64
                    child 1, validation_views: int64
                    child 2, new_training_started: bool
                child 2, engin2: struct<train_views: int64, validation_views: int64, new_training_started: bool>
                    child 0, train_views: int64
                    child 1, validation_views: int64
                    child 2, new_training_started: bool
                child 3, mt_forest: struct<train_views: int64, validation_views: int64, new_training_started: bool>
                    child 0, train_views: int64
                    child 1, validation_views: int64
                    child 2, new_training_started: bool
                child 4, rotc_grass: struct<train_views: int64, validation_views: int64, new_training_started: bool>
                    child 0, train_views: int64
                    child 1, validation_views: int64
                    child 2, new_training_started: bool
              overlap: struct<event: int64, episode: int64, frame: int64, patch: int64>
                child 0, event: int64
                child 1, episode: int64
                child 2, frame: int64
                child 3, patch: int64
              new_calibration_donors_cross_split: int64
              leakage_cluster_overlap: int64
              episodes: int64
              destination: string
              protocol: string
              total_views: int64
              ood_only_views_included: bool
              source_host: string
              destination_host: string
              contract: string
              created_at: string
              raw_recordings_included: bool
              to
              {'created_at': Value('string'), 'source_host': Value('string'), 'destination_host': Value('string'), 'destination': Value('string'), 'protocol': Value('string'), 'train_views': Value('int64'), 'validation_views': Value('int64'), 'total_views': Value('int64'), 'episodes': Value('int64'), 'leakage_cluster_overlap': Value('int64'), 'raw_recordings_included': Value('bool'), 'ood_only_views_included': Value('bool'), 'contract': Value('string')}
              because column names don't match

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TREAD R3 Real RGB-D / State / ETV Dataset

Public preprocessed release of the TREAD R3 real-robot data contract.

This release contains RGB-D frame NPZ files, observation geometry, measured robot state, candidate command, event references, E/T/V targets, validity masks, timestamps, quality metadata, and train/validation protocol files. Raw videos, MCAP recordings, private source paths, and workstation host information are not included.

Scope

  • Primary physical-patch split: 12,106 train views / 3,558 validation views.
  • Observation history: RGB-D at t, t-0.2 s, and t-0.4 s.
  • State order: [vx_mps, vy_mps, yaw_rate_rps, roll_rad, pitch_rad].
  • Command order: [vx_cmd_mps, vy_cmd_mps, yaw_rate_cmd_rps].
  • Labels are original 0.25 s effort, tracking-error, and vibration events.
  • Frame and observation SHA-256 values are retained in the manifests.

The dataset is intended for research and reproducibility. It is not a safety certification dataset, a production approval, or evidence that H2/H3 planner validation and physical calibration certification are complete. The split audit documents the remaining calibration and incident-review limitations.

No specific open-source license is granted by this card. Contact the maintainers before redistribution or commercial use.

Layout 

data/episodes/       frame and observation NPZ files
data/DATASET_MANIFEST.jsonl
protocols/TRAIN.jsonl
protocols/VALIDATION.jsonl
protocols/STATS.json
protocols/*_WEIGHTS.jsonl
portable_loader.py

See portable_loader.py for the reference file layout and SHA verification.
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Total file size:
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