Datasets:

---

SHEC3R

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HEC3R-Results

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SHEC3R 1

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
scene_id: string
scene_dir: string
robot: string
scene_type: string
num_frames: int64
image_size: list<item: int64>
  child 0, item: int64
predict_seconds: double
optimize_seconds: double
init_meta: struct<frames_used: list<item: int64>, scale_strategy_requested: string, scale_strategy_applied: str (... 76 chars omitted)
  child 0, frames_used: list<item: int64>
      child 0, item: int64
  child 1, scale_strategy_requested: string
  child 2, scale_strategy_applied: string
  child 3, scale_value: double
  child 4, depth_alignment_S: double
  child 5, init_resolution: int64
refine: struct<iterations: int64, learning_rate: double, early_stopping_steps: int64, batch_size: null, hist (... 15 chars omitted)
  child 0, iterations: int64
  child 1, learning_rate: double
  child 2, early_stopping_steps: int64
  child 3, batch_size: null
  child 4, history_len: int64
initial_extrinsic: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
refined_extrinsic: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
gt_extrinsic: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
initial_error: struct<rot_deg: double, trans_m: double, trans_dir_deg: double>
  child 0, rot_deg: double
  child 1, trans_m: double
  child 2, trans_dir_deg: double
refined_error: struct<rot_deg: double, trans_m: double, trans_dir_deg: double>
  child 0, rot_deg: double
  child 1, trans_m: 
...
101: string
  child 7, airbot: string
pvnet_meta_paths: struct<>
model_kwargs: struct<>
pvnet_init_frame_index: int64
init_frame_indices: null
eh_plus_sampling_elev_min: double
compute_mask_iou: bool
eh_plus_grounded_text_threshold: double
eh_plus_fm_dkm_preset: string
shard_index: int64
visualize_panel_height: int64
kalib_degeneracy_eig_threshold: double
kalib_spatracker_checkpoint: string
eh_plus_init_max_side: int64
init_use_masks: bool
roboreg_dr_early_stopping_steps: int64
device: string
kalib_template_paths: struct<>
visualize_pointcloud_indices: null
visualize_max_video_frames: int64
skip_existing: bool
eh_plus_dr_init_learning_rate: double
max_scenes: null
roboreg_icp_outer_iter: int64
scene_types: list<item: string>
  child 0, item: string
roboreg_z_min: double
kalib_dkm_confidence_threshold: double
roboreg_dr_lr: double
kalib_spatial_tracker_repo_path: string
pvnet_zeropose_data_dir: null
init_resolution: int64
data_dir: string
roboreg_icp_inner_iter: int64
robots: list<item: string>
  child 0, item: string
pvnet_root: null
roboreg_z_max: double
batch_size: null
shuffle: bool
kalib_reference_link: struct<panda: string, so100: string, xarm6_robotiq: string, open_manipulator_x: string, so101: strin (... 52 chars omitted)
  child 0, panda: string
  child 1, so100: string
  child 2, xarm6_robotiq: string
  child 3, open_manipulator_x: string
  child 4, so101: string
  child 5, airbot: string
  child 6, ur_10e: string
  child 7, widowxai: string
roboreg_num_points: int64
to
{'data_dir': Value('string'), 'output_dir': Value('string'), 'split': Value('string'), 'robots': List(Value('string')), 'scene_types': List(Value('string')), 'max_scenes': Value('null'), 'shuffle': Value('bool'), 'stratify': Value('bool'), 'scenes_file': Value('null'), 'seed': Value('int64'), 'eval_domain': Value('string'), 'pvnet_real_qpos_warn_tol': Value('float64'), 'predictor': Value('string'), 'hec3r_checkpoint': Value('string'), 'model_target': Value('null'), 'model_kwargs': {}, 'init_resolution': Value('int64'), 'init_use_masks': Value('bool'), 'init_frame_indices': Value('null'), 'scale_strategy': Value('string'), 'pvnet_checkpoint_dirs': {}, 'pvnet_meta_paths': {}, 'pvnet_root': Value('null'), 'pvnet_epoch': Value('int64'), 'pvnet_train_resolution': Value('null'), 'pvnet_init_frame_index': Value('int64'), 'pvnet_zeropose_data_dir': Value('null'), 'manual_init_paths': {}, 'kalib_reference_link': {'panda': Value('string'), 'so100': Value('string'), 'xarm6_robotiq': Value('string'), 'open_manipulator_x': Value('string'), 'so101': Value('string'), 'airbot': Value('string'), 'ur_10e': Value('string'), 'widowxai': Value('string')}, 'kalib_reference_offset': {'panda': List(Value('float64')), 'so100': List(Value('float64')), 'xarm6_robotiq': List(Value('float64')), 'open_manipulator_x': List(Value('float64')), 'so101': List(Value('float64')), 'airbot': List(Value('float64')), 'ur_10e': List(Value('float64')), 'widowxai': List(Value('float64'))}, 'kalib_tracking_backend': Val
...
ision_meshes': Value('bool'), 'roboreg_num_points': Value('int64'), 'roboreg_max_distance': Value('float64'), 'roboreg_z_min': Value('float64'), 'roboreg_z_max': Value('float64'), 'roboreg_icp_outer_iter': Value('int64'), 'roboreg_icp_inner_iter': Value('int64'), 'roboreg_dr_optimizer': Value('string'), 'roboreg_dr_lr': Value('float64'), 'roboreg_dr_iterations': Value('int64'), 'roboreg_dr_early_stopping_steps': Value('int64'), 'compute_mask_iou': Value('bool'), 'iterations': Value('int64'), 'learning_rate': Value('float64'), 'early_stopping_steps': Value('int64'), 'batch_size': Value('null'), 'urdf_paths': {'so100': Value('string'), 'panda': Value('string'), 'xarm6_robotiq': Value('string'), 'ur_10e': Value('string'), 'widowxai': Value('string'), 'open_manipulator_x': Value('string'), 'so101': Value('string'), 'airbot': Value('string')}, 'visualize_num': Value('int64'), 'visualize_scene_indices': Value('null'), 'visualize_per_robot': Value('bool'), 'visualize_frames': Value('int64'), 'visualize_fps': Value('int64'), 'visualize_max_video_frames': Value('int64'), 'visualize_panel_height': Value('int64'), 'visualize_pointcloud_num': Value('int64'), 'visualize_pointcloud_indices': Value('null'), 'pointcloud_keep': Value('string'), 'pointcloud_max_points': Value('int64'), 'device': Value('string'), 'skip_existing': Value('bool'), 'refine_from_gt': Value('bool'), 'refine': Value('bool'), 'shard_index': Value('int64'), 'num_shards': Value('int64'), 'shard_by_series': 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 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
              scene_id: string
              scene_dir: string
              robot: string
              scene_type: string
              num_frames: int64
              image_size: list<item: int64>
                child 0, item: int64
              predict_seconds: double
              optimize_seconds: double
              init_meta: struct<frames_used: list<item: int64>, scale_strategy_requested: string, scale_strategy_applied: str (... 76 chars omitted)
                child 0, frames_used: list<item: int64>
                    child 0, item: int64
                child 1, scale_strategy_requested: string
                child 2, scale_strategy_applied: string
                child 3, scale_value: double
                child 4, depth_alignment_S: double
                child 5, init_resolution: int64
              refine: struct<iterations: int64, learning_rate: double, early_stopping_steps: int64, batch_size: null, hist (... 15 chars omitted)
                child 0, iterations: int64
                child 1, learning_rate: double
                child 2, early_stopping_steps: int64
                child 3, batch_size: null
                child 4, history_len: int64
              initial_extrinsic: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              refined_extrinsic: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              gt_extrinsic: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              initial_error: struct<rot_deg: double, trans_m: double, trans_dir_deg: double>
                child 0, rot_deg: double
                child 1, trans_m: double
                child 2, trans_dir_deg: double
              refined_error: struct<rot_deg: double, trans_m: double, trans_dir_deg: double>
                child 0, rot_deg: double
                child 1, trans_m: 
              ...
              101: string
                child 7, airbot: string
              pvnet_meta_paths: struct<>
              model_kwargs: struct<>
              pvnet_init_frame_index: int64
              init_frame_indices: null
              eh_plus_sampling_elev_min: double
              compute_mask_iou: bool
              eh_plus_grounded_text_threshold: double
              eh_plus_fm_dkm_preset: string
              shard_index: int64
              visualize_panel_height: int64
              kalib_degeneracy_eig_threshold: double
              kalib_spatracker_checkpoint: string
              eh_plus_init_max_side: int64
              init_use_masks: bool
              roboreg_dr_early_stopping_steps: int64
              device: string
              kalib_template_paths: struct<>
              visualize_pointcloud_indices: null
              visualize_max_video_frames: int64
              skip_existing: bool
              eh_plus_dr_init_learning_rate: double
              max_scenes: null
              roboreg_icp_outer_iter: int64
              scene_types: list<item: string>
                child 0, item: string
              roboreg_z_min: double
              kalib_dkm_confidence_threshold: double
              roboreg_dr_lr: double
              kalib_spatial_tracker_repo_path: string
              pvnet_zeropose_data_dir: null
              init_resolution: int64
              data_dir: string
              roboreg_icp_inner_iter: int64
              robots: list<item: string>
                child 0, item: string
              pvnet_root: null
              roboreg_z_max: double
              batch_size: null
              shuffle: bool
              kalib_reference_link: struct<panda: string, so100: string, xarm6_robotiq: string, open_manipulator_x: string, so101: strin (... 52 chars omitted)
                child 0, panda: string
                child 1, so100: string
                child 2, xarm6_robotiq: string
                child 3, open_manipulator_x: string
                child 4, so101: string
                child 5, airbot: string
                child 6, ur_10e: string
                child 7, widowxai: string
              roboreg_num_points: int64
              to
              {'data_dir': Value('string'), 'output_dir': Value('string'), 'split': Value('string'), 'robots': List(Value('string')), 'scene_types': List(Value('string')), 'max_scenes': Value('null'), 'shuffle': Value('bool'), 'stratify': Value('bool'), 'scenes_file': Value('null'), 'seed': Value('int64'), 'eval_domain': Value('string'), 'pvnet_real_qpos_warn_tol': Value('float64'), 'predictor': Value('string'), 'hec3r_checkpoint': Value('string'), 'model_target': Value('null'), 'model_kwargs': {}, 'init_resolution': Value('int64'), 'init_use_masks': Value('bool'), 'init_frame_indices': Value('null'), 'scale_strategy': Value('string'), 'pvnet_checkpoint_dirs': {}, 'pvnet_meta_paths': {}, 'pvnet_root': Value('null'), 'pvnet_epoch': Value('int64'), 'pvnet_train_resolution': Value('null'), 'pvnet_init_frame_index': Value('int64'), 'pvnet_zeropose_data_dir': Value('null'), 'manual_init_paths': {}, 'kalib_reference_link': {'panda': Value('string'), 'so100': Value('string'), 'xarm6_robotiq': Value('string'), 'open_manipulator_x': Value('string'), 'so101': Value('string'), 'airbot': Value('string'), 'ur_10e': Value('string'), 'widowxai': Value('string')}, 'kalib_reference_offset': {'panda': List(Value('float64')), 'so100': List(Value('float64')), 'xarm6_robotiq': List(Value('float64')), 'open_manipulator_x': List(Value('float64')), 'so101': List(Value('float64')), 'airbot': List(Value('float64')), 'ur_10e': List(Value('float64')), 'widowxai': List(Value('float64'))}, 'kalib_tracking_backend': Val
              ...
              ision_meshes': Value('bool'), 'roboreg_num_points': Value('int64'), 'roboreg_max_distance': Value('float64'), 'roboreg_z_min': Value('float64'), 'roboreg_z_max': Value('float64'), 'roboreg_icp_outer_iter': Value('int64'), 'roboreg_icp_inner_iter': Value('int64'), 'roboreg_dr_optimizer': Value('string'), 'roboreg_dr_lr': Value('float64'), 'roboreg_dr_iterations': Value('int64'), 'roboreg_dr_early_stopping_steps': Value('int64'), 'compute_mask_iou': Value('bool'), 'iterations': Value('int64'), 'learning_rate': Value('float64'), 'early_stopping_steps': Value('int64'), 'batch_size': Value('null'), 'urdf_paths': {'so100': Value('string'), 'panda': Value('string'), 'xarm6_robotiq': Value('string'), 'ur_10e': Value('string'), 'widowxai': Value('string'), 'open_manipulator_x': Value('string'), 'so101': Value('string'), 'airbot': Value('string')}, 'visualize_num': Value('int64'), 'visualize_scene_indices': Value('null'), 'visualize_per_robot': Value('bool'), 'visualize_frames': Value('int64'), 'visualize_fps': Value('int64'), 'visualize_max_video_frames': Value('int64'), 'visualize_panel_height': Value('int64'), 'visualize_pointcloud_num': Value('int64'), 'visualize_pointcloud_indices': Value('null'), 'pointcloud_keep': Value('string'), 'pointcloud_max_points': Value('int64'), 'device': Value('string'), 'skip_existing': Value('bool'), 'refine_from_gt': Value('bool'), 'refine': Value('bool'), 'shard_index': Value('int64'), 'num_shards': Value('int64'), 'shard_by_series': Value('bool')}
              because column names don't match