Travor278/pi05-pick-dual-bottles-concurrent-data20260916-lora-10k-e191
Robotics • Updated
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/parquet/parquet.py", line 127, in _split_generators
self.info.features = datasets.Features.from_arrow_schema(pq.read_schema(f))
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1971, in from_arrow_schema
metadata_features = Features.from_dict(metadata["info"]["features"])
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2009, in from_dict
obj = generate_from_dict(dic)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1588, in generate_from_dict
return {key: generate_from_dict(value) for key, value in obj.items()}
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1588, in generate_from_dict
return {key: generate_from_dict(value) for key, value in obj.items()}
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1588, in generate_from_dict
return {key: generate_from_dict(value) for key, value in obj.items()}
^^^^^^^^^
AttributeError: 'str' object has no attribute 'items'
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/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
ctr-pick-dual-bottles-concurrent-20260916
Corrected RT/OIDN release of the paired collection.
Task: pick_dual_bottles; timing: concurrent. 50 episodes, 8066 frames, 25 FPS, LeRobot v3.0.
Corrections
Ray tracing with OIDN 2.5.1 denoising, 32 samples per pixel and path depth 8. Both wrist cameras retain centered_fovy90, 320 x 240, with near clipping at 0.005 m. Observations contain measured gripper joint positions; action commands remain commands. Raw full articulation state is retained in the external collection.
Frozen controls and original seeds were physically replayed; no replacement seeds or replanning. All four timing subsets within this task use the same 50 seeds, with two uniform episodes per seed. Physics outcomes are individually checked. Other tasks in the 750-attempt batch may still be generating or have failed attempts: this repository represents only its listed successful subset.
This revision supersedes the earlier raster/100mm-near release on main. Historical commits remain accessible. Publication and file integrity verification do not mark the collection archived or audit-confirmed. Lifecycle: reported; audit pending.
Identity is recorded in .ctr-revision.json and SHA256SUMS.
Seeds: 0, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25, 27, 29, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 54, 55, 56, 57
Joint dimensions and units
Original feature names and their order are preserved exactly in both action and observation.state. Each name below identifies one scalar dimension. Observation values and requested action targets are different quantities.
Left arm
| Index | Original joint name | Unit |
|---|---|---|
| 0 | left_joint_1.pos |
rad |
| 1 | left_joint_2.pos |
rad |
| 2 | left_joint_3.pos |
rad |
| 3 | left_joint_4.pos |
rad |
| 4 | left_joint_5.pos |
rad |
| 5 | left_joint_6.pos |
rad |
| 6 | left_gripper.pos |
0–1 (closed–open) |
Right arm
| Index | Original joint name | Unit |
|---|---|---|
| 7 | right_joint_1.pos |
rad |
| 8 | right_joint_2.pos |
rad |
| 9 | right_joint_3.pos |
rad |
| 10 | right_joint_4.pos |
rad |
| 11 | right_joint_5.pos |
rad |
| 12 | right_joint_6.pos |
rad |
| 13 | right_gripper.pos |
0–1 (closed–open) |
The earlier metadata-only update preserved all data values. The gripper correction documented below changes the confirmed gripper action labels and their statistics; original feature names, observation states, arm actions, videos and timing remain unchanged.
Gripper action correction — 2026-09-16
This revision corrects 7,050 stale initial-hold gripper labels in this dataset. Before each arm's first gripper command, the requested target is held at 1 (open), as established by initialization and the frozen source program. Previous affected labels were 0 (closed).
Reconstruction follows the actual per-physics-step source indices, including
shoe workspace waits and the shared scanning tail. All later gripper commands
match their frozen source values. The per-episode evidence is in
meta/gripper-label-repair.json. Action statistics are recomputed.
Measured observation states, arm action values, original joint names, images, timestamps, masks and episode order are unchanged. Requested targets are not substitutes for measured gripper positions; contact/tracking differences in measured states are preserved. This is a verified action-label correction, not a claim that all historical physical-state provenance has been re-audited.
Supersedes dataset revision 399d6e028500c23255fc5530f80009310e928a73. Old revisions remain accessible.
Old checkpoints require retraining on corrected labels and new normalization
before being used as corrected-data evidence. No training was started here.
Result reported; archive audit approval remains pending.
Repository name
The date suffix is the corrected-release date, 2026-09-16. This repository was renamed from Shiki42/ctr-pick-dual-bottles-concurrent-20260911 to Shiki42/ctr-pick-dual-bottles-concurrent-20260916; dataset payloads and original joint names are unchanged. Historical commits remain available.
Arm active mask
observation.arm_active_mask was reconstructed on 2026-09-17 from the pinned
meta/retime_manifest.json and meta/retime_source_indices/*.npz traces. It is
float32[2], ordered left/right. At observation t, value 1 means that arm's
actual next action interval contains task-program progress, including gripper
program progress. All waits and holds are 0. No velocity threshold is
used and no synthetic terminal frame is added. retime.*_idle is a
distinct loss-mask annotation; necessary waits can remain un-masked for
loss while still being inactive here. Per-episode evidence is in
meta/arm-active-mask-contract.json.
The replacement names and value semantics match the existing
Shiki42/PutCab-CTR-Train50-V4 field.
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