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Datasets:
Shiki42
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PutCab-Mixed-Train50-V4

Tasks:
Robotics
Modalities:
Video
Tags:
robotics
lerobot
robotwin
putcab
v4
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The dataset generation failed
Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
field: string
command_motion_mask_field: string
dtype: string
shape: list<item: int64>
  child 0, item: int64
names: list<item: string>
  child 0, item: string
physics_dt: double
interval_ticks: int64
observation_dt: double
alignment: string
active_rule: string
motion_rule: string
mixed_rule: string
to
{'physical_tick': Value('int64'), 'physical_time_seconds': Value('float64'), 'state': List(Value('float64')), 'actual_joint_position': List(Value('float64')), 'object_pose': List(Value('float64')), 'cabinet_qpos': List(Value('float64'))}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  writer.write_table(table)
                  ~~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 764, in write_table
                  self.write_rows_on_file()  # in case there are buffered rows to write first
                  ~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 663, in write_rows_on_file
                  self._write_table(table)
                  ~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._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
              field: string
              command_motion_mask_field: string
              dtype: string
              shape: list<item: int64>
                child 0, item: int64
              names: list<item: string>
                child 0, item: string
              physics_dt: double
              interval_ticks: int64
              observation_dt: double
              alignment: string
              active_rule: string
              motion_rule: string
              mixed_rule: string
              to
              {'physical_tick': Value('int64'), 'physical_time_seconds': Value('float64'), 'state': List(Value('float64')), 'actual_joint_position': List(Value('float64')), 'object_pose': List(Value('float64')), 'cabinet_qpos': List(Value('float64'))}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1850, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
                  ...<4 lines>...
                  )
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 12 new columns ({'names', 'physics_dt', 'field', 'dtype', 'shape', 'command_motion_mask_field', 'alignment', 'observation_dt', 'mixed_rule', 'interval_ticks', 'motion_rule', 'active_rule'}) and 6 missing columns ({'state', 'cabinet_qpos', 'physical_tick', 'object_pose', 'actual_joint_position', 'physical_time_seconds'}).
              
              This happened while the json dataset builder was generating data using
              
              gzip://episode_000000.json::hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/camera_calibration/episode_000000.json.gz, ['hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000000.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000001.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000002.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000003.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000004.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000005.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000006.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000007.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000008.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000009.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000010.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000011.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000012.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000013.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000014.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000015.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000016.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000017.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000018.json.gz', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/actual_joint_state/episode_000019.json.gz', 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'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000010.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000011.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000012.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000013.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000014.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000015.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000016.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000017.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000018.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000019.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000020.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000021.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000022.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000023.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000024.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000025.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000026.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000027.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000028.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000029.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000030.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000031.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000032.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000033.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000034.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000035.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000036.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000037.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000038.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000039.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000040.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000041.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000042.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000043.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000044.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000045.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000046.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000047.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000048.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/replay_results/episode_000049.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/shared-scenes100.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000000.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000001.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000002.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000003.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000004.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000005.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000006.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000007.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000008.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000009.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000010.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000011.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000012.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000013.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000014.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000015.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000016.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000017.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000018.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000019.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000020.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000021.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000022.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000023.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000024.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000025.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000026.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000027.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000028.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000029.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000030.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000031.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000032.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000033.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000034.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000035.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000036.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000037.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000038.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000039.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000040.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000041.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000042.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000043.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000044.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000045.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000046.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000047.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000048.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/source_rows/episode_000049.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/stats.json', 'hf://datasets/Shiki42/PutCab-Mixed-Train50-V4@a7e496ffc2fb2f1f13bb8637193e0f7985c2acb6/meta/tasks.jsonl']
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  num_examples, num_bytes = writer.finalize()
                                            ~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 781, in finalize
                  self.write_rows_on_file()
                  ~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 663, in write_rows_on_file
                  self._write_table(table)
                  ~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._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
              field: string
              command_motion_mask_field: string
              dtype: string
              shape: list<item: int64>
                child 0, item: int64
              names: list<item: string>
                child 0, item: string
              physics_dt: double
              interval_ticks: int64
              observation_dt: double
              alignment: string
              active_rule: string
              motion_rule: string
              mixed_rule: string
              to
              {'physical_tick': Value('int64'), 'physical_time_seconds': Value('float64'), 'state': List(Value('float64')), 'actual_joint_position': List(Value('float64')), 'object_pose': List(Value('float64')), 'cabinet_qpos': List(Value('float64'))}
              because column names don't match
              
              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 1694, 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 1880, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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physical_tick
int64
physical_time_seconds
float64
state
list
actual_joint_position
list
object_pose
list
cabinet_qpos
list
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0
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420
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[ 6e-10, 7e-10, 7e-10 ]
465
1.86
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[ 6e-10, 7e-10, 7e-10 ]
480
1.92
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[ -0.6723902822, 1.6634325981, 0.616020143, 0.9863913059, -0.6440252066, 1.1484086514, 0.1853000671, 1.3077095747, 0.9217165112, -0.8851281404, -0.0001714138, 0.1290485412 ]
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[ 6e-10, 7e-10, 7e-10 ]
495
1.98
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[ -0.6991026402, 1.7197113037, 0.6401567459, 1.0253595114, -0.6693611145, 1.1934925318, 0.192276448, 1.3455685377, 0.9556595683, -0.9176689982, -0.0001863921, 0.1338579208 ]
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[ 6e-10, 7e-10, 7e-10 ]
510
2.04
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[ -0.7249499559, 1.7739278078, 0.663464129, 1.0630245209, -0.6938378215, 1.2370567322, 0.1989515871, 1.3815621138, 0.9881401658, -0.9487993121, -0.0002011368, 0.1384612322 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
525
2.1
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[ -0.749849081, 1.8259640932, 0.6858983636, 1.0993257761, -0.7174164653, 1.2790151834, 0.2052928209, 1.4155615568, 1.0190122128, -0.9783884287, -0.0002132377, 0.1428413689 ]
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[ 6e-10, 7e-10, 7e-10 ]
540
2.16
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[ -0.7736095786, 1.8754456043, 0.7072682977, 1.1339490414, -0.7398946881, 1.31901896, 0.2112485915, 1.4473106861, 1.0480117798, -1.0061802864, -0.0002237824, 0.1469768733 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
555
2.22
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[ -0.7962287664, 1.9223942757, 0.7275826335, 1.1668894291, -0.7612727284, 1.3570679426, 0.2168158442, 1.4768292904, 1.0751188993, -1.0321553946, -0.0002330929, 0.150864765 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
570
2.28
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[ -0.8175169826, 1.966455698, 0.7466907501, 1.1979150772, -0.7813998461, 1.39288342, 0.2219465375, 1.5039045811, 1.1001157761, -1.0561101437, -0.0002386127, 0.1544721723 ]
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[ 6e-10, 7e-10, 7e-10 ]
585
2.34
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[ -0.8373816609, 2.0074381828, 0.7644758821, 1.2268030643, -0.8001375794, 1.4262349606, 0.2265980989, 1.528324008, 1.1227749586, -1.0778177977, -0.0002431804, 0.1577672213 ]
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[ 6e-10, 7e-10, 7e-10 ]
600
2.4
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[ -0.8557678461, 2.0452799797, 0.7809395194, 1.2535691261, -0.8174893856, 1.4571150541, 0.2307691574, 1.5501234531, 1.1431030035, -1.0972892046, -0.0002450435, 0.160746187 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
615
2.46
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[ -0.8724422455, 2.079523325, 0.7958523631, 1.277833581, -0.8332176208, 1.485098958, 0.2343969941, 1.5690120459, 1.1608073711, -1.1142497063, -0.0002423607, 0.1633680314 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
630
2.52
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[ -0.8874356151, 2.1102371216, 0.809243679, 1.2996227741, -0.8473399282, 1.5102270842, 0.2374609411, 1.5848871469, 1.1757501364, -1.1285518408, -0.0002398659, 0.1656136066 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
645
2.58
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[ -0.9005457163, 2.1370556355, 0.8209660053, 1.318721652, -0.8597089648, 1.5322285891, 0.2399456948, 1.5977220535, 1.1878898144, -1.1401705742, -0.0002331777, 0.1674730331 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
660
2.64
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[ -0.9116586447, 2.1597316265, 0.8308588266, 1.3348520994, -0.8701488972, 1.5508048534, 0.2417820394, 1.6071881056, 1.1968816519, -1.1487745047, -0.0002228574, 0.1689006537 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
675
2.7
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[ -0.9207665324, 2.1782710552, 0.8389701843, 1.3480716944, -0.878711164, 1.5660473108, 0.2429785877, 1.6133285761, 1.2027331591, -1.1543822289, -0.000212129, 0.1698970646 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
690
2.76
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[ -0.9275912642, 2.1921138763, 0.8450205326, 1.357858181, -0.8851355314, 1.5774831772, 0.2435719371, 1.61606884, 1.2053402662, -1.1571213007, -0.0001926597, 0.1704529375 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
705
2.82
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[ -0.932186842, 2.2013697624, 0.8490456343, 1.3645328283, -0.8895043135, 1.585198164, 0.2439716905, 1.6168853045, 1.2062253952, -1.1582527161, -0.0001652915, 0.1707047969 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
720
2.88
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[ -0.9343954921, 2.2057754993, 0.8509828448, 1.3681182861, -0.8919237852, 1.5892287493, 0.2443031222, 1.6171836853, 1.206535697, -1.158547163, -0.000141717, 0.1707927436 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
735
2.94
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9350138307, 2.2070720196, 0.8516710401, 1.3696043491, -0.8930243254, 1.5907850266, 0.2446214259, 1.6175181866, 1.2068886757, -1.158904314, -0.0001233094, 0.1708809435 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
750
3
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[ -0.935202837, 2.207324028, 0.8519633412, 1.3697924614, -0.8932944536, 1.5908499956, 0.2449230999, 1.6178474426, 1.2072302103, -1.1592416763, -0.0001093984, 0.1709575653 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
765
3.06
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[ -0.9353910089, 2.2075843811, 0.8522444367, 1.3700176477, -0.8935492039, 1.5909882784, 0.2452056259, 1.6181435585, 1.2075265646, -1.1595127583, -0.0000987844, 0.1710164547 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
780
3.12
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9355858564, 2.2078969479, 0.8525280952, 1.3703061342, -0.8938186765, 1.5912284851, 0.2454701811, 1.6184108257, 1.2077829838, -1.1597293615, -0.0000907617, 0.1710616946 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
795
3.18
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9357724786, 2.2081739902, 0.8527873158, 1.3705282211, -0.8940290213, 1.591412425, 0.2457179874, 1.6186506748, 1.2080048323, -1.1599036455, -0.0000847708, 0.1710965037 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
810
3.24
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9359512925, 2.2084188461, 0.8530243635, 1.3706979752, -0.8941928148, 1.5915522575, 0.2459501475, 1.6188673973, 1.20819664, -1.1600424051, -0.000080369, 0.1711232215 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
825
3.3
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9361227751, 2.208632946, 0.8532412052, 1.3708279133, -0.8943206072, 1.5916588306, 0.2461676151, 1.6190630198, 1.2083636522, -1.1601550579, -0.0000772052, 0.1711437255 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
840
3.36
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9362866282, 2.2088241577, 0.8534393907, 1.3709276915, -0.8944199681, 1.5917391777, 0.246371299, 1.6192394495, 1.2085088491, -1.1602448225, -0.0000750029, 0.1711594909 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
855
3.42
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9364439249, 2.2089967728, 0.8536208868, 1.3710035086, -0.894497633, 1.5918006897, 0.2465621531, 1.6193987131, 1.2086347342, -1.1603164673, -0.0000736123, 0.1711716354 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
870
3.48
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.9365952015, 2.209143877, 0.8537868857, 1.3710615635, -0.8945575356, 1.5918482542, 0.2467409521, 1.6195425987, 1.208743453, -1.160372138, -0.0000731964, 0.1711811572 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
885
3.54
[ -0.9402989149, 2.2103574276, 0.8556545973, 1.3712260723, -0.8947655559, 1.5919877291, 1, 0.2494118661, 1.6209290028, 1.2094744444, -1.160602808, -0.000138846, 0.1712391526, 1 ]
[ -0.936740458, 2.2092804909, 0.853939414, 1.371104598, -0.8946049809, 1.5918830633, 0.2469084859, 1.6196727753, 1.2088375092, -1.1604186296, -0.0000735551, 0.1711887717 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
900
3.6
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[ 6e-10, 7e-10, 7e-10 ]
915
3.66
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[ 6e-10, 7e-10, 7e-10 ]
930
3.72
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[ 6e-10, 7e-10, 7e-10 ]
945
3.78
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[ 6e-10, 7e-10, 7e-10 ]
960
3.84
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[ 6e-10, 7e-10, 7e-10 ]
975
3.9
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[ -0.9374967217, 2.2098164558, 0.8546191454, 1.3712137938, -0.8947305083, 1.5919681787, 0.2475599498, 1.6204218864, 1.2092268467, -1.1600507498, -0.0000754886, 0.1711691171 ]
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[ 6e-10, 7e-10, 7e-10 ]
990
3.96
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[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,005
4.02
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[ 6e-10, 7e-10, 7e-10 ]
1,020
4.08
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[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,035
4.14
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[ 6e-10, 7e-10, 7e-10 ]
1,050
4.2
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[ 6e-10, 7e-10, 7e-10 ]
1,065
4.26
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[ 6e-10, 7e-10, 7e-10 ]
1,080
4.32
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[ 6e-10, 7e-10, 7e-10 ]
1,095
4.38
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[ 6e-10, 7e-10, 7e-10 ]
1,110
4.44
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[ 6e-10, 7e-10, 7e-10 ]
1,125
4.5
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[ -0.9383012056, 2.2102825642, 0.8554083109, 1.3709117174, -0.8943626881, 1.5919671059, 0.2519092262, 1.6832828522, 1.2003542185, -1.0836644173, 0.0000226451, 0.1792392731 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,140
4.56
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[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,155
4.62
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[ 6e-10, 7e-10, 7e-10 ]
1,170
4.68
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[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,185
4.74
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[ -0.8946915269, 2.2388362885, 0.9287434816, 1.328110218, -0.8457800746, 1.5902942419, 0.2551241517, 1.701115489, 1.1611431837, -1.0255473852, 0.0000235152, 0.1835215539 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,200
4.8
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[ -0.8775999546, 2.2492353916, 0.9565631747, 1.3121572733, -0.828561604, 1.5899493694, 0.2556331456, 1.7035015821, 1.1469395161, -1.0096619129, -0.0000224574, 0.1841085851 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 6e-10, 7e-10, 7e-10 ]
1,215
4.86
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[ -0.8619793653, 2.2587435246, 0.9810356498, 1.2977480888, -0.8127843142, 1.5896902084, 0.2560359538, 1.7051929235, 1.1314381361, -0.9930637479, -0.0000730483, 0.1844792962 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 7e-10, 7e-10, 7e-10 ]
1,230
4.92
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[ -0.8502916098, 2.2656450272, 0.9973017573, 1.28741014, -0.8014402986, 1.5893132687, 0.256378293, 1.7062824965, 1.1149091721, -0.9754946828, -0.0000986834, 0.1846303344 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 7e-10, 8e-10, 8e-10 ]
1,245
4.98
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[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 7e-10, 8e-10, 8e-10 ]
1,260
5.04
[ -0.8407175541, 2.273545742, 1.0065456629, 1.2798442841, -0.794415772, 1.5887833834, 0.9648241206, 0.2609651387, 1.713463068, 1.076567173, -0.9339942336, 0.0000571223, 0.1843862534, 1 ]
[ -0.8452298045, 2.2686498165, 1.0032794476, 1.2823542356, -0.7962883115, 1.5889240503, 0.2568339407, 1.7077476978, 1.079793334, -0.9366883039, 0.0000949771, 0.1842454523 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 8e-10, 9e-10, 9e-10 ]
1,275
5.1
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[ -0.8450633883, 2.2691466808, 1.0035612583, 1.2817995548, -0.7958799005, 1.5888909101, 0.2569285631, 1.708578229, 1.0618339777, -0.9151369929, 0.0003759029, 0.1837123781 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 8e-10, 9e-10, 9e-10 ]
1,290
5.16
[ -0.8407175541, 2.273545742, 1.0065456629, 1.2798442841, -0.794415772, 1.5887833834, 0.8140703518, 0.259372741, 1.7156420946, 1.0410730839, -0.8892461061, 0.000826271, 0.1829412282, 1 ]
[ -0.8449042439, 2.2695941925, 1.0038182735, 1.2813680172, -0.7955607772, 1.5888674259, 0.2569257915, 1.7099121809, 1.044187665, -0.8918893933, 0.0007711003, 0.1829782724 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 9e-10, 1e-9, 1e-9 ]
1,305
5.22
[ -0.8407175541, 2.273545742, 1.0065456629, 1.2798442841, -0.794415772, 1.5887833834, 0.7386934673, 0.2582797706, 1.717889905, 1.0241804123, -0.8644569516, 0.001356047, 0.1819434315, 1 ]
[ -0.8447508812, 2.2699995041, 1.0040546656, 1.281031847, -0.7953116298, 1.5888470411, 0.2568247318, 1.7121460438, 1.027264595, -0.8670642376, 0.0012388899, 0.1820720285 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 9e-10, 1e-9, 1e-9 ]
1,320
5.28
[ -0.8407175541, 2.273545742, 1.0065456629, 1.2798442841, -0.794415772, 1.5887833834, 0.6633165829, 0.2570647299, 1.7215254307, 1.0080451965, -0.8386278152, 0.0018386743, 0.1808313131, 1 ]
[ -0.8446039557, 2.2703661919, 1.0042719841, 1.2807706594, -0.7951167226, 1.588829875, 0.2566327751, 1.7157565355, 1.0111758709, -0.8411879539, 0.0016758993, 0.1810430437 ]
[ 0.2304013371, -0.1414176077, 0.7407265306, 0.7069014311, 0.7059794664, 0.030670356, 0.0307048317 ]
[ 1e-9, 1.1e-9, 1.1e-9 ]
1,335
5.34
[ -0.8407175541, 2.273545742, 1.0065456629, 1.2798442841, -0.794415772, 1.5887833834, 0.5879396985, 0.2558211982, 1.7274922132, 0.9922942519, -0.8127402663, 0.0020761034, 0.1796884537, 1 ]
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[ 1e-9, 1.2e-9, 1.2e-9 ]
1,350
5.4
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1,365
5.46
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1,380
5.52
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1,395
5.58
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1,410
5.64
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[ 1.3e-9, 1.4e-9, 1.4e-9 ]
1,425
5.7
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1,440
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1,455
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1,470
5.88
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1,485
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End of preview.

PutCab Mixed V4 Train50

50 qualified demonstrations from a common 100-scene protocol. Three 320×240 H.264 cameras at 50/3 FPS, 250 Hz physical control, 14653 observations. Construction/packaging Run: E108-R004.

The left arm opens the drawer and the right arm grasps, lifts, transfers and releases the object. Sequential runs the two arm programs serially, with half of each order. Concurrent starts both together. CTR keeps frozen normalized Delta choices and records the exact signed start offset. Native planning occurs at live action boundaries. The object arm lifts25cm and uses a raised transfer with a reachable wrist tilt before descending to release; transfer requires the complete drawer program and at least14cm opening stable for75 physical ticks. Mixed follows the predeclared complementary parent assignment in meta/shared-scenes100.json and preserves original parent media, state, action and masks. It inherits its parents' independent replay evidence.

observation.arm_active_mask is float32[2] in left/right order. Observation t labels the outgoing 15-physics-tick action interval; task-program and gripper progression is active. observation.arm_motion_mask records coordinate changes over the same interval. Final masks are [0,0]. Both masks were reconstructed from saved controls and per-step cursors. Generation and complete independent replay pass task completion and full-object containment with0.25mm numerical tolerance, state error limits and termination checks. Collisions are allowed and recorded at0.1mm reporting tolerance. At most14 idle physical steps align the first successful completion to an observation. All 150 original videos were decoded and timestamp-checked.

meta/lineage.jsonl records source commits, control hashes, scene indices and immutable parent revisions. Train50 is the predeclared paired subset of its own Train100; only indexing/statistics metadata is rebuilt. Its original parent state/action/mask/media values are retained. The100 seeds, object identities, common50 membership, Sequential orders, Mixed parents and normalized offset samples were frozen before outcomes. Actions are generated directly by the pinned R028-derived live expert; no prior trajectories are spliced or retimed. Shared snapshots and frozen reference clocks, plus control/progress evidence are retained under meta when present.

Lifecycle: reported → audit pending. Execution/publication authorization does not constitute user archival approval. This dataset request does not train a policy.

Expert versions are intentionally selected per scene: working old-expert episodes are retained; only failed scenes use a repaired expert. Whole episodes and their original controls are reused. See direct-expert-lock.json and per-episode lineage.
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