Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 127, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
~~~~~~~~~~~~~~^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1400, in _iter_from_urlpath
with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 977, in xopen
file_obj = fs.open(paths[0], mode)
File "<string>", line 3, in open
File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
return self._mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
return self._execute_mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
result = effect(*args, **kwargs)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 786, in wrapped
tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
~~~^^^^^^^^
TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1393, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1571, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
pkl unknown | __key__ string | __url__ string |
|---|---|---|
[
128,
4,
149,
178,
7,
1,
0,
0,
0,
0,
0,
140,
28,
112,
101,
114,
112,
101,
116,
117,
97,
50,
46,
117,
116,
105,
108,
115,
46,
102,
105,
108,
116,
101,
114,
95,
115,
116,
97,
116,
101,
148,
140,
6,
79,
98,
106,
101,
99,
1... | estimators/scene_153/AlarmClock_surface_6_11_object | hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/predictive-graphs-procthor-153-demo.tar.gz |
"gASVKwgBAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlChoAIw(...TRUNCATED) | estimators/scene_153/Apple_surface_8_25_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVAwgBAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlChoAIw(...TRUNCATED) | estimators/scene_153/BasketBall_4_2_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVg3UAAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlGgAjBF(...TRUNCATED) | estimators/scene_153/Book_surface_6_12_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVrHUAAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlGgAjBF(...TRUNCATED) | estimators/scene_153/Candle_surface_7_16_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVFggBAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlChoAIw(...TRUNCATED) | estimators/scene_153/Egg_surface_8_19_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVhXUAAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlGgAjBF(...TRUNCATED) | estimators/scene_153/Laptop_surface_6_13_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASV3gcBAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlChoAIw(...TRUNCATED) | estimators/scene_153/Pen_surface_4_6_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASV8QcBAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlChoAIw(...TRUNCATED) | estimators/scene_153/Potato_surface_8_23_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
"gASVinUAAAAAAACMHHBlcnBldHVhMi51dGlscy5maWx0ZXJfc3RhdGWUjAZPYmplY3SUk5QpgZR9lCiMBnN0YXRlc5RdlGgAjBF(...TRUNCATED) | estimators/scene_153/RemoteControl_surface_4_5_object | "hf://datasets/Mycroft96/predictive-graphs-procthor-153@d30ebc1fda3aba239cdf8749b919a85e4fe0c12d/pre(...TRUNCATED) |
End of preview.
Predictive Graphs: SemiStaticSim example data (ProcTHOR house 153)
Example data for Predictive Graphs: one SemiStaticSim house (ProcTHOR-10k test layout 153) simulated over four weeks (672 hours), with fitted Perpetua* estimators and a Predictive Graph built at hour 504.
Files
| Archive | Size | Contents | Needed for |
|---|---|---|---|
predictive-graphs-procthor-153-demo.tar.gz |
147 MB | Map, estimators, object schedules, and the observations of all 672 hourly runs (no images) | Navigation demo, map viewer, fitting estimators |
predictive-graphs-procthor-153-rgbd.tar.gz |
2.0 GB | RGB-D frames and poses of runs 485-504 | Building a map |
Download
From the root of the Predictive Graphs repository:
hf download Mycroft96/predictive-graphs-procthor-153 --repo-type dataset --local-dir data/archives
mkdir -p data
tar -xzf data/archives/predictive-graphs-procthor-153-demo.tar.gz -C data
tar -xzf data/archives/predictive-graphs-procthor-153-rgbd.tar.gz -C data
Layout
data/
├── semistaticsim/test/153/0/
│ ├── groundtruth/ # where each of the 15 pickupables is at every hour
│ └── privileged/run_<hour>/ # one robot run per hour: observations, config; RGB-D for hours 485-504
├── estimators/scene_153/ # one Perpetua* estimator per pickupable
└── maps/scene_153/ # Predictive Graph built at hour 504
Each run_<hour> holds the robot's observations of which objects it saw on which receptacles (scan_0.parquet), the receptacles' bounding boxes and the run configuration. Runs 485-504 also hold images/ (rgb_first_view/, depth/, semantics/) and poses/ (one camera pose per frame).
Source and license
The houses come from ProcTHOR-10k and are rendered with AI2-THOR, both released under the Apache-2.0 license. This dataset is released under CC BY 4.0.
Citation
@article{saavedra2026predictive,
title = {Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes},
author = {Saavedra-Ruiz, Miguel and Gauthier, Charlie and Gupta, Kumaraditya and Shahfar, Shima and Ellis, Kirsty and Parkison, Steven and Paull, Liam},
journal = {IEEE Robotics and Automation Letters},
year = {2026}
}
- Downloads last month
- -