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: CastError
Message: Couldn't cast
000000: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000001: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000002: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000003: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<it
...
ist<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000189: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000190: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000191: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
to
{'000000': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000001': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000002': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000003': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000004': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000005': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000006': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8')
...
Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000191': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000192': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000193': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000194': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000195': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000196': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}}
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 478, 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 2818, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, 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/hdf5/hdf5.py", line 91, in _generate_tables
yield Key(file_idx, batch_idx), cast_table_to_features(pa_table, self.info.features)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2271, in cast_table_to_features
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
000000: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000001: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000002: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000003: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<it
...
ist<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000189: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000190: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000191: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
to
{'000000': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000001': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000002': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000003': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000004': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000005': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000006': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8')
...
Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000191': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000192': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000193': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000194': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000195': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000196': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
LIBERO 3D Point-Cloud GT — complete object meshes (sim)
Per-frame, object-level 3D point-cloud ground truth for the LIBERO benchmark. We replay each official LIBERO human demonstration's recorded MuJoCo states and, at every frame, sample each object's point cloud directly from its visual mesh (area-weighted, posed by the live state) — giving complete, view-independent clouds (full object incl. back/occluded surfaces), not a single-view 2.5D shell. Exact metric geometry, no estimation.
A depth-unprojected (single-view 2.5D, RGB-aligned) variant is at
Kit-Key/libero-3d-pointcloud.
- Source: LIBERO base demos (
yifengzhu-hf/LIBERO-datasets), 130 tasks × 50 demos across the 5 suites (spatial / object / goal / long / 90). - Object selection: each task's
obj_of_interestfrom its BDDL (target + destination objects; distractors excluded; same-class instances disambiguated). Abstract placement regions map to their parent fixture's cloud. - Teacher: sim depth unprojection (metric).
Format
One HDF5 file per (task, demo) episode. Each frame group "%06d" holds:
| key | shape / dtype | meaning |
|---|---|---|
object_pc |
f32 (4, 512, 3) |
scene-normalized (scheme B) per-object point clouds |
object_names |
str (4,) |
LIBERO instance names ("" = padding) |
object_kinds |
str (4,) |
graspable | fixture | "" |
valid |
bool (4,) |
slot valid this frame (False when object fully occluded) |
norm_params |
f32 (4,) |
shared centroid c(3) + radius r(1); metric = pc·r + c |
rgb_jpeg |
uint8 (N,) |
JPEG bytes of the 256×256 agentview RGB |
Root attrs: task, language, bddl, teacher="sim", coord="scene_normalized_B",
view="agentview", n_frames.
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